Systems and methods for rotating a modular home on a trailer

ABSTRACT

A floor assembly of a modular home includes a frame including a plurality of floor joists, at least one upper plate coupled to a top of the frame, a skid plate coupled to a bottom of the frame, the skid plate including a circular opening, and a pin socket including a cylindrical pipe section positioned around the circular opening. The pin socket is configured to receive a rotation pin and configured to cause the rotation of the floor assembly about the rotation pin when a force is applied to the floor assembly.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This application claims the benefit of and priority to U.S. ProvisionalPatent Application No. 63/335,725, filed Apr. 27, 2022, and U.S.Provisional Patent Application No. 63/388,536, filed Jul. 12, 2022, bothof which are hereby incorporated by reference herein in theirentireties.

BACKGROUND

Modular housing has become more and more popular as a cost-effective andefficient method of constructing homes. Many construction companies arereverting to modular housing because the pre-fabricated modules of thehouses can be assembled off-site in a repeatable and controlled mannersuch that each house does not have to have a bespoke design that variesbetween houses, even between those that have the same specifications.Further, because construction companies can manufacture thepre-fabricated modules off-site in a controlled environment, thecompanies may incur fewer construction flaws in the modules, thusproviding cost savings for homeowners down the road as the constructionflaws may need to be resolved or cause other issues that need to beresolved.

Despite the many benefits of manufacturing modular houses off-site,current modular housing manufacturers have issues transporting thedifferent modular homes to their final destination. The manufacturersoften need to load modules of the modular homes onto separate trucks andtransport the modules separately. The manufacturers may then need to usea crane to lift the different modules off of the transport trucks andonto their final building site. This process can be prohibitivelyexpensive and may cause the modular homes to be permanent fixtures attheir off-loading site.

SUMMARY

Implementations of the systems and methods described herein overcome theaforementioned deficiencies through a sequence of dividing a modularhome into unique portions and transporting the unique portions to adefined destination on a single trailer bed. For example, a manufacturermay fabricate two halves of a modular home at a manufacturing site. Themanufacturer may load the two halves onto a trailer such that the twohalves lay longitudinally flush to the trailer bed. The trailer may thentransport the two halves of the modular home to a defined destination.Upon reaching the destination, an apparatus coupled to the trailer mayrotate and fold the two housing portions together. The two portions maybe connected after the apparatus completes rotation. In this way, aconstruction company can transport a modular home to a defined buildingsite using a divided modular home and apparatus on a trailer bed.

To remove the modular home from the trailer bed, an implementation ofthe systems and methods described herein may use a series ofload-bearing robotic crawlers. For example, in addition to loading themodular home onto the trailer, the manufacturer may also load a crawlerhousing (e.g., a crawler hotel) onto the trailer. After the trailertravels to and parks at the defined location and the two portions of thehousing are coupled together, the robotic crawlers may leave the crawlerhotel and park underneath areas of the now connected modular home thatextend outside of the trailer. Legs from the modular home may extendonto the crawlers to lift the modular home off of the trailer. Thecrawlers may then move in unison to transport the modular home to adefined location. The crawlers may then individually move away from themodular home through a sequence of lifting one leg off a crawler at atime and extending the legs to rest on the ground to support the modularhome. The legs may then retract, causing the modular home to lower andenter a final building site. In this way, a manufacturer may transport amodular home to its final resting position without using a crane and/orwithout human intervention.

In some embodiments, the legs from the modular home do not interfacewith the crawlers. Instead, when the modular home is positioned on thetrailer, the legs extend from the modular home to the ground and liftthe modular home off of the trailer. The trailer can then be driven outfrom under the modular home. Crawlers with upper support platforms maythen move underneath the modular home, and the legs may retract to lowerthe modular home such that a lower surface of the modular home rests onand is supported by the support platforms. With the support platformssupporting the modular home, the crawlers may then move in unison to aninstallation site of the modular home. Once the modular home ispositioned above the installation site, the legs may again extend formthe modular home to the ground and lift the modular home off of thesupport platforms of the crawlers. The crawlers can then be moved outfrom under the modular home, and the legs can retract to lower themodular home to an installed height.

Methods of Unloading Two-Portion Modular Home

In accordance with some aspects of the disclosure, a method of unloadinga modular home from a trailer is disclosed. The method includespositioning a modular home on a bed of a trailer, wherein the modularhome includes a first housing portion having a first vertical edgecoupled to a second vertical edge of a second housing portion by ahinge, and wherein the first and second housing portions are arrangedlongitudinally on the trailer. The method further includes rotating thefirst housing portion and the second housing portion about the hingesuch that the first and second housing portions overhang from first andsecond sides of the bed, forming a first overhanging portion and asecond overhanging portion of the modular home. The method furtherincludes coupling at least one of (1) a first horizontal edge of thefirst housing portion to a second horizontal edge of the second housingportion, or (2) a third vertical edge of the first housing portion to afourth vertical edge of the second housing portion upon completion ofthe rotating.

In accordance with some aspects of the disclosure, another method ofunloading a modular home from a trailer is disclosed. The methodincludes positioning a modular home on a bed of a trailer, wherein themodular home includes a first housing portion having a first verticaledge coupled to a second vertical edge of a second housing portion by ahinge and wherein the first and second housing portions are arrangedlongitudinally on the bed. The method further includes rotating thefirst housing portion and the second housing portion about the hinge andcoupling a first horizontal edge of the first housing portion to asecond horizontal edge of the second housing portion upon completion ofthe rotating.

In accordance with some aspects of the disclosure, another method ofunloading a modular home from a trailer is disclosed. The methodincludes positioning a first housing portion of a modular home on a bedof a trailer with the first housing portion rotatably coupled to a firstrotation pin positioned in a slot in the bed, positioning a secondhousing portion of a modular home on a bed of a trailer with the secondhousing portion rotatably coupled to a second rotation pin positioned inthe slot, coupling the first housing portion to the second housingportion with a hinge, rotating the first housing portion and the secondhousing portion about the hinge, the rotation causing the first rotationpin and the second rotation pin to move along the slot toward eachother, and fixedly coupling the first housing portion to the secondhousing portion after rotating the first housing portion and the secondhousing portion.

Structure of the Modular Home with Hinge

In accordance with some aspects of the disclosure, a modular home isdisclosed. The modular home includes a first housing portion comprisinga first floor, a first ceiling, a first set of at least three walls, afirst vertical edge of a first wall of the first set, a second verticaledge of a second wall of the first set, and a first opening between afirst horizontal edge of the first floor, a first horizontal edge of thefirst ceiling, the first vertical edge, and the second vertical edge.the modular home further includes a second housing portion comprising asecond floor, a second ceiling, a second set of at least three walls, athird vertical edge of a third wall of the second set, a fourth verticaledge of a fourth wall of the second set, and a second opening between asecond horizontal edge of the second floor, a second horizontal edge ofthe second ceiling, the third vertical edge, and the fourth verticaledge. The first vertical edge is coupled to the third vertical edge by ahinge, and the second vertical edge is configured to be coupled to thefourth vertical edge.

In accordance with some aspects of the disclosure, another modular homeis disclosed. The modular home includes a first housing portioncomprising a first floor, a first ceiling, a first set of at least threewalls, a first vertical edge of a first wall of the first set, a secondvertical edge of a second wall of the first set, and a first openingbetween a first horizontal edge of the first floor, a first horizontaledge of the first ceiling, the first vertical edge, and the secondvertical edge. the modular home further includes a second housingportion comprising a second floor, a second ceiling, a second set of atleast three walls, a third vertical edge of a third wall of the secondset, a fourth vertical edge of a fourth wall of the second set, and asecond opening between a second horizontal edge of the second floor, asecond horizontal edge of the second ceiling, the third vertical edge,and the fourth vertical edge, wherein the first vertical edge is coupledto the third vertical edge by a hinge. The first housing portion isconfigured to be rotated relative to the second housing portion aboutthe hinge between (a) a first position in which the first opening andthe second opening face substantially the same direction; and (b) asecond position in which the first opening faces the second opening toform a passageway between the first housing portion and the secondhousing portion.

In accordance with some aspects of the disclosure, another modular homeis disclosed. The modular home includes a first housing portioncomprising a first wall, a second housing portion comprising a secondwall, the second housing portion configured to be coupled to the firsthousing portion such that the first wall is adjacent to the second wall,and a hinge that hingedly couples the first housing portion to thesecond housing portion. The hinge includes a first leaf coupled to thefirst wall, a second leaf coupled to the second wall, and a hinge pincoupling the first leaf to the second leaf.

Structure of the Trailer and Method of Assembling the Modular Home Usingthe Boom/Pin/Slot

In accordance with some aspects of the disclosure, a trailer configuredto transport a load is disclosed. The trailer includes a bed includingan upper surface configured to support the load, a slot positioned inthe bed and extending from a front portion of the bed to a rear portionof the bed, and a first rotation pin configured to translate within theslot and extending from within the slot to above the upper surface ofthe bed.

In accordance with some aspects of the disclosure, a method ofassembling a modular home is disclosed. The method includes positioninga modular home on a bed of a trailer. The modular home includes a firsthousing portion coupled to a second housing portion by a hinge. Thetrailer includes an upper surface configured to support the modularhome, a first rotation pin and a second rotation pin each slidablycoupled to a slot in the bed of the trailer, and a winch assemblycoupled to the bed of the trailer, the winch assembly comprising a winchand a boom. Positioning the modular home on the trailer includesrotatably coupling the first housing portion to the first rotation pinand rotatably coupling the second housing portion to the second rotationpin. The method further includes moving the boom to an extended positionaway from the bed of the trailer, coupling a rope to the modular home,and pulling the rope with the winch to rotate each of the housingportions about the respective rotation pin, the pulling causing therotation pins to slide along the slot.

In accordance with some aspects of the disclosure, another trailerconfigured to transport a load is disclosed. The trailer includes a bedincluding an upper surface configured to support the load, the uppersurface comprising at least one of a plurality of ball transfer units ora low friction material, a slot positioned in the bed and extending froma front portion of the bed to a rear portion of the bed, a firstrotation pin configured to translate within the slot and extending fromwithin the slot to above the upper surface of the bed, and a winchconfigured to be coupled to the load by a rope and to rotate the loadabout the first rotation pin. The rotation pin is configured to berotatably coupled to the load to enable rotation of the load about therotation pin and translation of the load along the slot.

Structure of a Trailer for a Single-Portion Generic Load with no Hingeand Method of Rotating the Load Using the Boom and a Stationary Pin

In accordance with some aspects of the disclosure, a trailer configuredto transport a load is disclosed. The trailer includes a bed includingan upper surface configured to support the load, a first rotation pinextending above the upper surface of the bed, and a winch assemblycoupled to a first side of the trailer and including a first winch and aboom. The boom is configured to extend outward from the first side ofthe trailer and the first winch is configured to be connected to theload and to rotate the load about the first rotation pin.

In accordance with some aspects of the disclosure, a method of rotatinga load on a trailer is disclosed. The method includes positioning a loadon a bed of a trailer. The trailer includes a rotation pin coupled tothe bed of the trailer, and a winch assembly coupled to the bed of thetrailer. The winch assembly includes a winch and a boom. Positioning theload on the trailer includes rotatably coupling the load to the rotationpin. The method further includes moving the boom to an extended positionaway from the bed of the trailer, coupling a rope to the load, andpulling the rope with the winch to rotate the load about the rotationpin.

In accordance with some aspects of the disclosure, another trailerconfigured to transport a load is disclosed. The trailer includes a bedincluding an upper surface configured to support the load. The uppersurface includes at least one of a plurality of ball transfer units or alow friction material. The trailer further includes a first rotation pincoupled to the bed and extending above the upper surface, and a winchconfigured to be coupled to the load by a rope and to rotate the loadabout the first rotation pin. The rotation pin is configured to berotatably coupled to the load to enable rotation of the load about therotation pin.

Modular Home Including Lower Skid Plate

In accordance with some aspects of the disclosure, a floor assembly of amodular home is disclosed. The floor assembly includes a frame includinga plurality of floor joists, at least one upper plate coupled to a topof the frame, a skid plate coupled to a bottom of the frame, the skidplate including a circular opening, and a pin socket including acylindrical pipe section positioned around the circular opening. The pinsocket is configured to receive a rotation pin within the cylindricalpipe section and configured to cause the rotation of the floor assemblyabout the rotation pin when a force is applied to the floor assembly.

In accordance with some aspects of the disclosure, a method of rotatinga modular home including at least one skid plate coupled to a bottom endof the modular home and a circular pin socket positioned above a firstskid plate around a circular hole in the first skid plate is disclosed.The method includes positioning the modular home on a surface comprisinga plurality of ball transfer units with the modular home supported bythe at least one skid plate and with a rotation pin coupled to thesurface inserted into the pin socket. The method further includesrotating the modular home about the rotation pin such that the at leastone skid plate moves across the surface supported only by the balltransfer units.

In accordance with some aspects of the disclosure, a modular home isdisclosed. The modular home includes a first space defined by aplurality of walls and a floor assembly configured to support the walls.The floor assembly includes at least one upper plate defining a floor ofthe first space, the at least one upper plate including a firstmaterial, a frame supporting the at least one upper plate, and at leastone skid plate coupled to a bottom of the frame by a plurality offastening features. The at least one skid plate includes a secondmaterial different than the first material and forms a substantiallyflat lower surface of the modular home, wherein none of the fasteningfeatures extend beyond a lower surface of the at least one skid plate.

Modular Home Including Bladder Tank Support Assembly

In accordance with some aspects of the disclosure, a modular home isdisclosed. The modular home includes a space inside the modular home, afloor assembly including a frame with a plurality of floor joists, atleast one upper plate coupled to a top of the frame and defining a floorof the space, and at least one lower plate coupled to a bottom of theframe and defining a lower surface of the floor assembly, the lowersurface including an opening. The modular home further includes abladder tank support assembly coupled to the floor assembly, the bladdertank support assembly including a support platform configured to belowered from an upper position in which the support platform is receivedwithin the opening to a lower position below the floor assembly, and aninflatable bladder tank positioned on the support platform. Theinflatable bladder tank is structured to fit between the supportplatform and the floor of the living area when the inflatable bladdertank is deflated and the support platform is in the upper position.

In accordance with some aspects of the disclosure a method oftransporting a modular home is disclosed. The method includes moving themodular home from a first location to a second location with a deflatedinflatable bladder tank positioned between an upper plate of a floorassembly of the modular home and a support platform positioned below thefloor assembly, with the support platform in an upper positionsupporting the inflatable bladder tank. The method further includeslowering the support platform to a lower position and inflating theinflatable bladder tank with the support platform in the lower position.

In accordance with some aspects of the disclosure a bladder tank supportassembly for a modular home is disclosed. The bladder tank supportassembly includes a support platform configured to support a bladdertank, a plurality of cables configured to suspend the support platformfrom a floor of the modular home, and a winch assembly configured torotate a shaft. Each cable is routed through a pulley configured to bemounted to the floor, coupled to the shaft, and configured to wraparound the shaft when the shaft is rotated.

The foregoing summary is illustrative only and is not intended to be inany way limiting. In addition to the illustrative aspects, embodiments,and features described above, further aspects, embodiments, and featureswill become apparent by reference to the following drawings and thedetailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an illustration of a sequence for transporting modules of amodular house to a final destination.

FIG. 2 is an illustration of a sequence for transporting a modular hometo a final destination, in accordance with some embodiments of thepresent disclosure.

FIG. 3 illustrates an example method for transporting a modular home toa final destination, in accordance with some embodiments of the presentdisclosure.

FIGS. 4A-4I are illustrations of example operations for transporting amodular home to a final destination as described with reference to FIG.3 , in accordance with some embodiments of the present disclosure.

FIG. 5 is an illustration of a sequence for rotating two portions of amodular home into a single modular home, in accordance with someembodiments of the present disclosure.

FIG. 6 is another illustration of a sequence for rotating two portionsof a modular home into a single modular home, in accordance with someembodiments of the present disclosure.

FIGS. 7A-7H are illustrations of different views of a housing portion,in accordance with some embodiments of the present disclosure.

FIG. 8A is an illustration of a hinge coupled to a modular home, inaccordance with some embodiments of the present disclosure.

FIG. 8B is another illustration of a hinge coupled to a modular home, inaccordance with some embodiments of the present disclosure.

FIGS. 8C-8G are illustrations of different views of a hinge, inaccordance with some embodiments of the present disclosure.

FIG. 9 is an example method for transporting a modular home coupled witha hinge to a building site, in accordance with some embodiments of thepresent disclosure.

FIGS. 10A-10E are illustrations of an example leg of a modular home, inaccordance with some embodiments of the present disclosure.

FIG. 11 is an example method for lifting a modular home off a trailerbed, in accordance with some embodiments of the present disclosure.

FIG. 12 is another example method for lifting a modular home off atrailer bed, in accordance with some embodiments of the presentdisclosure.

FIG. 13 is an example method for leveling a modular home by actuatinglegs coupled to a floor assembly of the modular home, in accordance withsome embodiments of the present disclosure.

FIG. 14A is an illustration of a floor assembly including a skid plate,in accordance with some embodiments of the present disclosure.

FIG. 14B is an illustration of a floor assembly of a modular home, inaccordance with some embodiments of the present disclosure.

FIG. 14C is another illustration of a floor assembly of a modular home,in accordance with some embodiments of the present disclosure.

FIG. 14D is an example method for rotating a modular home, in accordancewith some embodiments.

FIG. 15A is an illustration of a modular home including pinholes in afloor assembly of the modular home, in accordance with some embodimentsof the present disclosure.

FIG. 15B is an illustration of a modular home including a deflatedbladder tank in the floor assembly, in accordance with some embodimentsof the present disclosure.

FIG. 16 is an example method for transporting a modular home with aninflatable bladder tank, in accordance with some embodiments of thepresent disclosure.

FIG. 17 is an illustration of a modular home with a bladder tank and awarming blanket, in accordance with some embodiments of the presentdisclosure.

FIG. 18A is an illustration of two coupling assemblies for coupling afirst housing portion to a second housing portion of a modular home, inaccordance with some embodiments of the present disclosure.

FIGS. 18B-18C are illustrations of two portions of a modular homecoupled at vertical edges of the two portions, in accordance with someembodiments of the present disclosure.

FIG. 19 is an example method for coupling two portions of a modular homeat vertical edges of the modular home, in accordance with someembodiments of the present disclosure.

FIG. 20 is an illustration of coupling two portions of a modular home atvertical edges of the two portions, in accordance with some embodimentsof the present disclosure.

FIG. 21 is an example method of coupling two portions of a modular homeat vertical edges of the two portions, in accordance with someembodiments of the present disclosure.

FIG. 22A is an illustration of an example gasket for coupling twoportions of a modular home, in accordance with some embodiments of thepresent disclosure.

FIG. 22B is an illustration of various example gaskets and methods ofmounting the gaskets, in accordance with some embodiments of the presentdisclosure.

FIG. 23 is an illustration of a ridge cap coupled to a portion of amodular home, in accordance with some embodiments of the presentdisclosure.

FIGS. 24A-24D are illustrations of different views of a fold-down deck,in accordance with some embodiments of the present disclosure.

FIGS. 25A-25D are illustrations of different views of fold-down stairs,in accordance with some embodiments of the present disclosure.

FIG. 26 is an illustration of a fold-down ramp coupled to a modularhome, in accordance with some embodiments of the present disclosure.

FIG. 27A is an illustration of a rotation of two portions of a modularhome using ball transfer units and a winch, in accordance with someembodiments of the present disclosure.

FIG. 27B is an illustration of a sequence for rotating of a load on atrailer using ball transfer units and a winch, in accordance with someembodiments of the present disclosure.

FIGS. 28A-28B are illustrations of an example pin for rotating portionsof a modular home on a trailer bed, in accordance with some embodimentsof the present disclosure.

FIG. 29 is an illustration of a sequence for rotating two portions of amodular home on a trailer bed, in accordance with some embodiments ofthe present disclosure.

FIG. 30 is an illustration of two portions of a modular home rotated ona trailer bed via a winch, in accordance with some embodiments of thepresent disclosure.

FIGS. 31A-31C are illustrations of different views of a trailer bed, inaccordance with some embodiments of the present disclosure.

FIG. 32 is an example method of rotating two portions of a modular homeusing ball transfer units and a winch, in accordance with someembodiments of the present disclosure.

FIG. 33 is an example method of rotating two portions of a modular homeusing ball transfer units and a winch, in accordance with someembodiments of the present disclosure.

FIG. 34 is an illustration of use of a pulley system to rotate twoportions of a modular home, in accordance with some embodiments of thepresent disclosure.

FIG. 35 is an illustration of a sequence of using of a pulley system torotate two portions of a modular home, in accordance with someembodiments of the present disclosure.

FIG. 36 is an illustration of a trailer deck with ball transfer units,in accordance with some embodiments of the present disclosure.

FIGS. 37A-37C are illustrations of different views of a trailer deck, inaccordance with some embodiments of the present disclosure.

FIG. 38 is an illustration of a modular home transporting system withmultiple robotic crawlers, in accordance with some embodiments of thepresent disclosure.

FIG. 39 is an example method of leveling a modular home on one or morecrawlers, in accordance with some embodiments of the present disclosure.

FIG. 40A is an illustration of another modular home transporting systemwith multiple robotic crawlers, in accordance with some embodiments ofthe present disclosure.

FIG. 40B is an illustration of a robotic crawler, in accordance withsome embodiments of the present disclosure.

FIG. 41 is an example method of leveling a modular home on one or morecrawlers, in accordance with some embodiments of the present disclosure.

FIGS. 42A-42B are illustrations of crawler storage devices, inaccordance with some embodiments of the present disclosure.

FIGS. 43A-43K are illustrations of other crawler storage devices, inaccordance with some embodiments of the present disclosure.

FIG. 44 is an illustration of another crawler storage device in variousconfigurations, in accordance with some embodiments of the presentdisclosure.

FIG. 45 is a block diagram of a control system, in accordance with someembodiments of the present disclosure.

FIG. 46 is an example method of storing crawlers in the crawler hotel ofFIGS. 42A-B, in accordance with some embodiments of the presentdisclosure.

FIG. 47 is an example method of storing crawlers in the crawler hotel ofFIGS. 43A-C, in accordance with some embodiments of the presentdisclosure.

FIG. 48 is an example method of storing crawlers in the crawler hotel ofFIG. 44 , in accordance with some embodiments of the present disclosure.

FIGS. 49A-49I are illustrations of an example self-sustaining modularhome, in accordance with some embodiments of the present disclosure.

FIG. 50A is an illustration of an example sequence for transporting andcoupling individual portions of a modular home using crawlers, inaccordance with some embodiments of the present disclosure.

FIG. 50B is an example method of transporting and coupling individualportions of a modular home using crawlers, in accordance with someembodiments of the present disclosure.

FIGS. 51A and 51B are illustrations of a robotic crawler with a slidingplatform in an open and closed position, in accordance with someembodiments of the present disclosure.

FIGS. 52A and 52B are illustrations of two portions of a modular homebeing assembled by the robotic crawlers, in accordance with someembodiments of the present disclosure.

FIG. 52C is an illustration of different views of a latch assembly, inaccordance with some embodiments of the present disclosure.

FIGS. 53A-53C are illustrations of a ridge cap assembly, in accordancewith some embodiments of the present disclosure.

FIGS. 53D and 53E illustrate sealing members similar to those used inthe ridge cap assembly of FIGS. 53A-C, in accordance with someembodiments of the present disclosure.

FIGS. 54A-54C illustrate a hand winch assembly for deploying and stowingdecks and ramps of a modular home, in accordance with some embodimentsof the present disclosure.

FIGS. 55A-55C illustrate a floor assembly of a housing portion of amodular home including two bladder tank support assemblies, inaccordance with some embodiments of the present disclosure.

FIG. 55D is an example method for transporting a modular home, inaccordance with some embodiments.

FIGS. 56A-56O illustrate a sequence for unloading a modular home fromthe bed of a trailer, in accordance with some embodiments of the presentdisclosure.

FIG. 57 illustrates a method for unloading a modular home from atrailer, in accordance with some embodiments.

FIG. 58 illustrates a method for unloading a modular home from a trailerwithout the use of crawlers, in accordance with some embodiments of thepresent disclosure.

FIG. 59 illustrates a method for unloading a load from a trailer, inaccordance with some embodiments of the present disclosure.

The foregoing and other features of the present disclosure will becomeapparent from the following description and appended claims, taken inconjunction with the accompanying drawings. Understanding that thesedrawings depict only several embodiments in accordance with thedisclosure and are therefore, not to be considered limiting of itsscope, the disclosure will be described with additional specificity anddetail through use of the accompanying drawings.

DETAILED DESCRIPTION

In the following detailed description, reference is made to theaccompanying drawings, which form a part hereof. In the drawings,similar symbols typically identify similar components, unless contextdictates otherwise. The illustrative embodiments described in thedetailed description, drawings, and claims are not meant to be limiting.Other embodiments may be utilized, and other changes may be made,without departing from the spirit or scope of the subject matterpresented here. It will be readily understood that the aspects of thepresent disclosure, as generally described herein, and illustrated inthe figures, can be arranged, substituted, combined, and designed in awide variety of different configurations, all of which are explicitlycontemplated and made part of this disclosure.

As mentioned above, despite the many benefits of manufacturing modularhomes off-site, current modular housing manufacturers have issuestransporting modular homes to their final destination (also describedherein as installation site, building site, and final resting site). Oneissue that may arise when transporting modular homes to different sitesis complying with local traffic laws. For example, many states haveguidelines that limit the size of trailers to 12 feet, the typical sizeof a traffic lane. A home that is only 12 feet wide is often notdesirable for purchasers, so complying with this guideline oftenrequires dividing the homes into separate smaller modules andtransporting the smaller modules on separate trailers and/or in multipletrips. Such division and transportation can add to the transportationand modular home assembly costs at the site. Another issue is once theportions of the modular homes arrive at their destinations, large cranesare often required to remove the homes from the trailers and then toplace the homes at their final building site. The cranes can be clumsyto handle when putting together different modules, and it can bedifficult to secure a crane when placing modular homes at differentgeographic locations. Yet another issue is removing modular homes fromtrailers and placing them at different locations can require asignificant amount of manual labor. Such labor may include operating acrane to remove the modules, using a variety of manual equipment toconnect the different modules, and placing the different housingcomponents on the modules. Addressing each of these issues can add tothe costs and length of time it takes to transport and construct amodular house at a final destination.

For example, referring now to FIG. 1 , a sequence 100 for transportingmodules of a modular house to a building site is shown. Sequence 100 maybe performed by an entity that is not performing the operations of thesystems and methods described herein. In sequence 100, at operation 102,two trailers 104 and 106 may separately transport housing portions 108and 110 to a building site. Housing portions 108 and 110 may bepre-fabricated housing portions designed according to specifications tobe constructed together to form a single modular house. Housing portions108 and 110 may have been designed to be separate rooms in a house orseparate portions of the same room. Although not shown, whenconstructing such a modular home, more trailers may transport any numberof housing portions according to the make and design of the home. Byconstructing portions of a modular home and transporting the portions tothe building site in this way, a manufacturer can create reproduciblehousing portions in a controlled environment (e.g., at the manufacturingsite), thus saving construction costs at the building site and reducingthe chance for errors between houses that may be caused by constructingthe modular home from its individual parts at the building site.

After transporting the housing portions to the building site, atoperation 103, construction workers 112 may operate a crane 114 toremove housing portions 108 and 110 from trailers 104 and 106. In doingso, the constructions workers may individually attach housing portions108 and 110 to crane 114, remove housing portions 108 and 110 fromtrailers 104 and 106 by operating crane 114, and place housing portions108 and 110 on the ground. In some cases, crane 114 may place housingportions 108 and 110 onto a pre-laid foundation that can be used as abase for housing portions 108 and 110 to lay on. When using crane 114 toplace housing portions 108 and 110 at a final resting place,construction workers 112 may maneuver housing portions 108 and 110 byhand to ensure housing portions 108 and 110 are properly aligned andconnected. Using construction workers 112 and crane 114 in this mannercan incur many expenses and opportunities for human error as each stepin the process relies on a human to maneuver and/or align housingportions 108 and 110.

Referring now to FIG. 2 , a sequence 200 for transporting modules of amodular house to a building site in accordance with the systems andmethods described herein is shown, in accordance with some embodiments.In sequence 200, at operation 202, two housing portions 204 and 206 maybe loaded onto a trailer bed of a single trailer 208. Housing portions204 and 206 may be two halves of a single modular home split down themiddle of the modular home. On trailer 208, housing portions 204 and 206may be connected to a winch 210 that is connected to at least one ofhousing portions 204 or 206 and the trailer bed of trailer 208. Housingportions 204 and 206 may also be connected to a winch 212 at a distalend of the trailer bed as compared to a driving compartment of trailer208. Upon trailer 208 reaching a building site for the modular home,winch 212 may operate to pull housing portions 204 and 206 towards thedistal end of the truck bed, thereby providing room to fold and rotatehousing portions 204 and 206 on the truck bed. Winch 210 may then pullon housing portions 204 and/or 206 via a hinge to fold housing portions204 and 206 such that the middle faces of housing portions 204 and 206face each other while remaining on the trailer bed. An operator may thencouple housing portions 204 and 206 together on the bottom and/or topedges of housing portions 204 and/or 206. In this way, a modular homemay be transported to a building site and constructed while remaining onthe bed of a trailer.

At operation 214, robotic crawlers may remove the modular home formedfrom housing portions 204 and 206 from the trailer bed. For instance,although not shown, robotic crawlers may be stored in a “crawler hotel”(e.g., a crawler storage container) on trailer 208 in addition tohousing portions 204 and 206. The robotic crawlers may be motorizedrobots that are capable of carrying a large load or payload, such asportions of a modular home. After trailer 208 arrives at the buildingsite and housing portions 204 and 206 are folded together, roboticcrawlers 216 may drive out of the crawler hotel and off of trailer 208.Robotic crawlers 216 may then drive underneath portions of housingportions 204 and 206 that jut off of the sides of the trailer bed.Robotic crawlers 216 may be configured to stop at particular locationsin relation to housing portions 204 and 206. Upon each crawler reachinga designated location (e.g., a defined location in relation to housingportions 204 and 206) underneath housing portions 204 and 206, legs(e.g., actuators) within the housing portions 204 and 206 may extendtowards crawlers 216. Upon contacting robotic crawlers 216, the legs mayfasten or be fastened to crawlers 216. The legs may then extend to causethe floors of housing portions 204 and 206 to rise into the air awayfrom trailer 208. In some cases, trailer 208 may then drive away havingdelivered its load.

At operation 218, housing portions 204 and 206 may gradually be removedfrom crawlers 216. For example, one of housing portions 204 and 206 maylift a leg fastened to a crawler to not bear weight on the crawler. Uponsufficiently lifting the leg above the crawler, the crawler may driveaway and the leg may extend towards the ground to support the weight ofthe respective housing portion or modular home while pressed against theground. The legs of housing portions 204 and 206 may gradually beremoved from crawlers 216 until there are not any crawlers supportingthe weight of housing portions 204 and 206. As crawlers 216 leave thearea underneath the modular home, each of the legs may retract so themodular home can be closer to the ground. In this way, the systems andmethods described herein may enable a manufacturer to deliver a modularhome to a building site without using a crane, substantially reducingthe costs and the amount of work that is placed on construction workersto move and connect modules of a modular home together.

Housing Rotation System

Referring now to FIG. 3 , a method 300 for transporting a modular home101 is described, in accordance with some embodiments. Further referenceis made to FIGS. 4A-4I, which illustrate the operations of the method300, according to some embodiments. Method 300 may include any number ofoperations and the operations may be performed in any order. The method300 may be performed by equipment of a modular home construction company(e.g., the components of system 4500, shown and described with referenceto FIG. 45 ). Performance of method 300 may enable a modular homemanufacturing company to remove a modular home 101 from a trailer bedwithout the use of a crane and with minimal to no human intervention.However, some operations of the method may be performed by people (e.g.,employees of the modular home construction company), such as byoperating machinery. For example, the method 300 may be performed aftera modular home 101 divided into two halves has been placed on top of atruck trailer bed. The truck may transport the modular home 101 to itsfinal destination, at which point the modular home 101 may be removedfrom the truck trailer bed by folding the two halves to create aconnected modular home 101. The two halves may be folded and connectedusing one or more mechanisms or devices on or integrated into the truckbed such as a roller deck, side winches, and guide pins, as well asunique components in the modular home 101, such as a hinge andmechanical legs. The mechanical legs may be extended onto roboticcrawlers that are configured to support and transport the modular home101 to a final building site. In performing the method 300, amanufacturing company can transport a modular home 101 to a finalbuilding site without the use of a crane, follow traffic highway laws,and deliver a home 101 on-site without or with minimal manual labor.

At operation 302 of the method 300, a first housing portion 120 and asecond housing portion 160 are positioned longitudinally on the bed of atrailer 30. Operation 302 is illustrated in FIG. 4A, according to someembodiments. The first housing portion 120 and the second housingportion 160 may be positioned by workers at a manufacturing company. Forexample, each housing portion 120, 160 may be lifted onto the bed of thetrailer 30 by a crane, forklift, or other lifting device. In doing so,the first housing portion 120 and the second housing portion 160 may bepositioned longitudinally on the bed of the trailer 30. It will beunderstood that “longitudinally,” as used herein, refers to arrangingthe housing portions 120, 160 such that they are aligned end to end suchthat the longer dimension of the footprints of each housing portion isarranged from front to back on the bed of the trailer 30. In thisorientation, substantially the entire footprint of each housing portion120, 160 can be supported by the bed of the trailer 30. As can be seenin FIG. 4B, a first vertical edge 122 of the first housing portion 120may be coupled to a second vertical edge 162 of the second housingportion 160 by a hinge 199.

In some embodiments, the trailer 30 may include a slot 402 in the bed404 that extends longitudinally from the front of the bed 404 to therear of the bed 404. The bed 404 may include two rotation pinsconfigured to roll, slide, or otherwise translate in the slot 402. Insome embodiments, there may be two slots 402 arranged end to end, withone rotation pin in each. The rotation pins may each have a rollerportion that fits into the slot and a pin portion that extends upwardout of the slot 402 and above the bed 404. The pin portion may becylindrical in shape and may include one or more roller bearing or aball bearing. The bearing may have a substantially vertical axis ofrotation, such that the housing portions or any other load can rotate onthe bed 404 about the bearing. In some embodiments, the rotation pindoes not include the bearing but provides the same function via slidingcontact. Additional details of the slot 402 and the rotation pins areshown in FIGS. 28A-31C.

As shown in FIG. 15A, each housing portion 120, 160 may include a pinhole 1502 (e.g., a pin socket) that extends from the lower skid plate1504 upward toward the inner floor 1506 of the housing portion 120, 160.The pin hole 1502 may be circular, with a diameter that is slightlylarger than the diameter of the pin portion of the rotation pin. In someembodiments, positioning a housing portion 120, 160 on the bed 404 ofthe trailer 30 includes positioning the housing portion such that thepin extends into the pin hole 1502, and the pin hole 1502 surrounds therotation pin (e.g., the pin portion of the rotation pin). For example,if the housing portions 120, 160 are positioned using a crane, the craneoperator or a tag line operator may position the housing portion 120,160 such that the pin hole 1502 is positioned directly over the rotationpin. The crane operator may then lower the housing portion 120, 160 ontothe bed 404 such that the rotation pin extends into the pin hole. Insome embodiments, the rotation pin does not provide any vertical (e.g.,subjacent) support to the housing portion 120, 160. For example, theremay be a gap between an upper surface of the pin and the upper surface1508 of the pin hole. The housing portion 120, 160 may then rotate about(e.g., be rotatably coupled to) the pin while remaining secured to thetrailer because the sides of the pin hole 1502 can contact the sides ofthe pin portion of the rotation pin, which stop the housing portion 120,160 from sliding relative to the rotation pin. In some embodiments, abearing (e.g., a roller bearing, a ball bearing, etc.) may be pressed orotherwise secured in the pin hole 1502 to reduce the friction betweenthe pin hole and the rotation pin. The rotation pins keep the centers ofthe housing portions 120, 160 centered on the trailer bed while thehousing portions 120, 160 rotate about the pins and translate along theslot 402, such that the housing portions 120, 160 can overhang from theedges of the bed 404 but remain balanced on the trailer 30.

In some embodiments, each housing portion 120, 160 includes a pluralityof linear actuators 130 configured to extend downward from the housingportion 120, 160 to lift the housing portion 120, 160 above a surface(e.g., the ground, a factory floor, etc.). The linear actuators 130 areshown, for example, in FIGS. 4E and 4I. The linear actuators 130 may beused to position the housing portions 120, 160 on the trailer. Forexample, a housing portion 120, 160 may be lifted off the ground bylinear actuators 130 positioned at each corner of the housing portion120, 160. A trailer 30 positioned perpendicular to the housing portionmay then back up underneath the housing portion 120, 160 between thelinear actuators 130 until the rotation pin is positioned directlyunderneath the pin hole 1502. The linear actuators 130 may then lowerthe housing portion 120, 160 onto the bed 404 such that the rotation pinextends into the pin hole 1502, with the ends of the housing portion120, 160 overhanging from each end of the bed 404. The housing portion120, 160 may then be rotated ninety degrees such that it is positionedlongitudinally on the bed 404 of the trailer 30. This process may berepeated for a second housing portion 120, 160 on a second rotation pin.The trailer 30 may include one or more winches or other actuatorsconfigured to move the rotation pin and the coupled housing portion 120,160 toward the front or rear of the trailer 30. In some embodiments,similar operations may be performed using different lifting devices tolift the housing portion 120, 160 by each end. For example, crawlers asdescribed herein may lift the housing portion 120, 160 at each end andlower the housing portion 120, 160 onto the trailer 30 perpendicular tothe bed 404. The housing portion 120, 160 may then be rotated ninetydegrees into a longitudinal position.

The housing portions 120, 160 may be coupled together by a hinge. Insome embodiments, the housing portions 120, 160 are not coupled untilthey are on the bed 404 of the trailer 30. In some embodiments, thehousing portions 120, 160 are positioned on the bed 404 of the trailer30 without being connected. The trailer 30 then moves the housingportions 120, 160 to another location, where the housing portions 120,160 are connected by the hinge 199 before being removed from thetrailer. In some embodiments, each housing portion 120, 160 ispositioned on the trailer 30 with one leaf of the hinge 199 attached,but no hinge pin coupling the leaves together. The hinge pin may then beinstalled in the leaves to couple the housing portions 120, 160together. The hinge 199 may couple a first vertical edge 122 of a firsthousing portion 120 to a second vertical edge 162 of a second housingportion 160.

The trailer 30 may include a front winch (e.g., front winch 3032, shownin FIG. 30 ) positioned near the front of the trailer 30 (e.g., near thedriving compartment) and a rear winch (e.g., rear winch 3034, shown inFIG. 30 ) positioned near the rear of the trailer 30. Each winch may beconfigured to pull a rope toward the winch. For example, the rear winchmay be coupled to a housing portion 120, 160 or to a complete modularhome (e.g., two housing portions 120, 160 that have been rotated andcoupled together to form modular home 101) on the bed of the trailer topull the housing portion 120, 160 or modular home 101 towards the rearof the trailer. Similarly, the front winch 3032 may pull the housingportion 120, 160 or modular home 101 towards the front of the trailer30. The rope may be coupled to a housing portion 120, 160 or to one ofthe rotation pins. In some embodiments, it may be necessary to decouplethe housing portions 120, 160 of a modular home 101 and rotate theportions 120, 160 back into a longitudinal arrangement. For example, ifa complete modular home 101 needs to be moved to another location, thelinear actuators 130 may lift the modular home 101, and the trailer 30can be backed under the modular home between the linear actuators 130.Then, the linear actuators 130 can lower the modular home 101 onto thetrailer bed 404, with the pin sockets 1502 of each housing portion 120,160 surrounding a respective rotation pin. Next, the removable couplings(e.g., the fasteners or other coupling members that couple the firsthousing portion 120 to the second housing portion 160) can be removed,leaving the two housing portions 120, 160 coupled only by the hinge 199.The rope of the rear winch 3034 can then be coupled to a first housingportion 120, 160 or to the rear rotation pin, and the rope of the frontwinch 3032 can be coupled to the other housing portion 120, 160 or thefront rotation pin. The rear winch 3034 can then pull the first housingportion 120, 160 towards the rear of the trailer 30 while the frontwinch 3032 pulls the other housing portion 120, 160 towards the front ofthe trailer 30. Because the two housing portions 120, 160 are stillcoupled by the hinge 199, the housing portions 120, 160 can rotate asthey are pulled to their respective ends of the trailer 30 until eachhousing portion 120, 160 has rotated ninety degrees, returning to alongitudinal arrangement for shipping on the trailer 30.

At operation 304 of the method 300, the first and second housingportions 120, 160 are rotated such that the modular home overhangs fromfirst and second sides of the bed of the trailer, thus forming a firstoverhanging portion and a second overhanging portion of the modularhome. Operation 304 is illustrated in FIGS. 4B and 4C, according to someembodiments. The first and second housing portions 120, 160 may berotated using a rotation mechanism (e.g., winches, pulleys, guide pins,roller decks, a hinge, etc.) coupled to or otherwise integrated into thebed 404 of the trailer 30. The first housing portion 120 and secondhousing portion 160 may be rotated, causing each housing portion 120,160 to overhang the edges of the bed 404 of the trailer 30.

To rotate the housing portions 120, 160, a rotation mechanism may beused. For example, in some embodiments, the bed of the trailer mayinclude ball transfer units 406 to reduce the friction between thehousing portions 120, 160 and the bed of the trailer 30 to facilitatelower friction rotation. In some embodiments, the housing portions 120,160 may each be rotatably coupled to a rotation pin positioned in a slot402 in the bed of the trailer 30, such that the housing portions 120,160 remain balanced and centered on the bed while overhanging the edges.In some embodiments, the rotation may be accomplished by extending a jib408 (e.g., a boom) from an edge of the trailer 30, connecting a rope 410to the modular home, and pulling the rope through a pulley 412 with awinch 414. In some embodiments, the winch may be positioned at thedistal edge of the jib 408 and a pulley 412 may not be used. In otherembodiments, one or more winches may be coupled to the rotation pins andmay pull the rotation pins toward each other to rotate the housingportions 120, 160. The first overhanging portion 126 and the secondoverhanging portion 166 are shown in FIG. 4D, according to someembodiments. The housing portions 120, 160 may be rotated until thefirst housing portion and second housing portion meet. For example, eachhousing portion 120, 160 may rotate approximately 90 degrees such thatthe edges of each housing portion meet (e.g., contact each other or arewithin a predetermined distance of each other).

As described above, a winch assembly 409 including a winch 414 and aboom 408 may be used to rotate the housing portions 120, 160. Wincharrangements according to some embodiments are described in detail withregard to FIG. 27 . The trailer 30 or the housing portions 120, 160 mayinclude pins, locks, or other mechanisms that secure the housingportions 120, 160 in the longitudinal position on the bed 404 and resistany undesired rotation of the housing portions 120, 160. Before thehousing portions 120, 160 are rotated, the locks, pins, or othermechanisms may be disengaged.

At operation 306 of the method 300, a first horizontal edge of the firsthousing portion 120 is coupled to a second horizontal edge of the secondhousing portion. For example, a top edge of the first housing portion120 may be coupled to a top edge of the second housing portion 160and/or a bottom edge of the first housing portion 120 may be coupled toa bottom edge of the second housing portion 160. Alternatively or inaddition, a third vertical edge of the first housing portion may becoupled to a fourth vertical edge of the second housing portion. Forexample, the vertical edge of the first housing portion 120 and thevertical edge of the second housing portion 160 that meet after thehousing portions are rotated on the deck may be coupled together. Insome embodiments, conventional fastening methods may be used to couplethe edges together. In some embodiments, a tapered pin in an edge of onehousing portion may be inserted into a corresponding receiver latch inthe edge of the other housing portion. This may allow the two edges tobe coupled together automatically when the edges meet. In otherembodiments (e.g., as shown in FIGS. 52A-C), one of the housing portions120, 160 may include one or more latch or clamp assemblies 5210 and theother housing portion may include a receiver assembly 5220. As the edgesof the housing portions 120, 160 meet, the latch assemblies 5210 mayengage and couple to the receiver assemblies 5220 automatically. Forexample, the receiver assembly 5220 may push open a spring-actuatedclamp as it approaches the latch assembly 5210. When the edges of thehousing portions 120, 160 meet, the clamp may close around a portion ofthe receiver assembly 5220, thus retaining the receiver assembly 5220with the latch assembly 5210 such that the housing portions 120, 160 areunable to be pulled apart without releasing the clamps. In someembodiments, each housing portion 120, 160 may include at least onelatch assembly 5210 and at least one receiver assembly 5220 thatcorresponds with the latch assembly 5210 of the other housing portion120, 160. In some embodiments, one housing portion 120, 160 may includeonly latch assemblies 5210 and the other housing portion 120, 160 mayinclude only receiver assemblies 5220.

At operation 308 of the method 300, instructions are sent to a pluralityof crawlers, causing the plurality of crawlers to move under the firstand second overhanging portions 126, 166 of the modular home 101.Operation 308 is illustrated in FIG. 4D, according to some embodiments.The instructions may be sent, for example, from a user device to thecrawlers, or from a controller (e.g., controller 4502, shown anddescribed with respect to FIG. 45 ) located on the trailer 30. Theinstructions may cause each crawler to move off of the trailer bed ofthe trailer and under a linear actuator coupled to the modular home 101.The crawlers may be configured to send and receive wirelesscommunications. In some embodiments, the instructions may be stored onone or more of the crawlers (e.g., stored in memory of a computer havinga processor to execute instructions in the memory on the crawlers), andthe crawlers may communicate with the other crawlers to receive theinstructions. The crawlers 190 may receive instructions from thecontroller or the other crawlers, causing the crawlers 190 to move underthe overhanging portions 126, 166.

At operation 310 of the method 300, a plurality of linear actuators 130coupled to the modular home (e.g., the housing portions 120, 160 afterthey have been rotated and coupled together to form modular home 101)extend downward towards the crawlers 190 until they engage the crawlersand lift the modular home 101 off of the bed of the trailer 30.Operation 310 is illustrated in FIG. 4E, according to some embodiments.The linear actuators 130 may include a housing coupled to the modularhome 101 and a rod that extends downward from the housing. The rod mayextend downward and engage the crawlers 190. The instructions may causeeach crawler 190 to move under an actuator 130. Once the crawlers 190are in position, the rod of each actuator 130 may extend downward andengage a respective crawler 190. The rod of each actuator 130 cancontinue to extend downward until the rod contacts a crawler 190,causing the modular home 101 to be lifted off the bed 404 of the trailer30. The modular home 101 may then be fully supported by the actuators130 and the crawlers 190. In other embodiments, crawlers 190 may not beused. For example, the linear actuators 130 may extend towards theground and lift the housing portions 120, 160 off of the bed. Thetrailer 30 may then be driven out from underneath the housing portions120, 160, and the linear actuators 130 can lower the housing portions120, 160 to a desired height.

At operation 312 of the method 300, a second set of instructions aresent to the plurality of crawlers. Operation 312 is illustrated in FIG.4F, according to some embodiments. The controller may generate andtransmit the second set of instructions to the plurality of crawlers.The second set of instructions may cause the plurality of crawlers tomove the modular home 101 away from the trailer 30 to a second location.The crawlers may cooperate to carry the modular home 101 across asurface to a predetermined or commanded location. A user may enter thelocation via a computing device such as a smart phone, the crawlers 190may have previously been programmed with a location to which to carrythe modular home 101, or the controller may include the location in thesecond set of instructions. The crawlers 190 may carry the modular home101 away from the trailer 30 to a second location. Using the crawlers190 may enable the modular home 101 to be positioned in a location thatis not reachable by a trailer and, in some cases, without a trailer ingeneral (e.g., crawlers can be used to transport a modular home 101 fromone local location to another local location without the use of atrailer). It may also allow the modular home 101 to be placed in alocation closer to other objects, such as additional modular homes, thanwould be possible to reach using only a trailer and a crane. Using thecrawlers 190 may also obviate the need for a crane, which can greatlyreduce installation costs.

At operation 314 of the method 300, once the modular home 101 ispositioned in the second location, a first linear actuator of theplurality of linear actuators is retracted from a first respectivecrawler. The modular home 101 may include enough linear actuators suchthat the remaining linear actuators may support the modular home 101when one linear actuator is retracted and not supporting the modularhome 101. Operation 314 is illustrated in FIG. 4G, according to someembodiments. The first linear actuator 130 a may be retracted from itsrespective first crawler 190 a. The remaining linear actuators 130 mayremain engaged with their respective crawlers 190, thus continuing tosupport the modular home 101. In some embodiments, the rod of eachlinear actuator 130 may couple to a pivotable base plate. The base platemay be fixedly coupled to the rod, or the rod may engage the base platewhen it extends down to the crawler and may lift the base plate off thecrawler when the rod retracts.

At operation 316 of the method 300, a third set of instructions are sentto the first crawler. Operation 316 is illustrated in FIG. 4H accordingto some embodiments. The controller may transmit the third set ofinstructions to the crawlers. Receipt of the third set of instructionsmay cause the crawler to move out from underneath the first linearactuator to a third location. Once the first linear actuator 130 a isretracted from the first crawler 190 a, the controller may transmitinstructions to the first crawler 190 a, causing the first crawler 190 ato move out from underneath the first linear actuator 130 a to a thirdlocation. The first linear actuator 130 a may then be positioneddirectly above the ground.

At operation 318 of the method 300, the first linear actuator isextended towards the ground and may support the modular home 101 uponengaging the ground. The modular home 101 may then be fully supported bythe first linear actuator, which is engaged with the ground, and theremaining linear actuators, which are engaged with the remainingplurality of crawlers. Operations 314, 316, and 318 may be repeatedsequentially for each of the linear actuators and the respectivecrawlers such that one linear actuator is retracted at a time, therespective crawler is moved to another location, and the linear actuatorextends towards and engages the ground. The operations may be repeateduntil each of the actuators is engaged (e.g., directly contacting) withthe ground and each of the crawlers has moved away from the modular home101. Operation 318 is illustrated in FIG. 4I. The first linear actuator130 a, extends towards and engages the ground. As discussed above, eachother near actuator 130 may be sequentially retracted from itsrespective crawler 190, the respective crawler 190 may be moved away,and the linear actuator 130 may extend toward and engage the ground.Once each of the linear actuators 130 are concurrently engaging theground, the modular home 101 may be fully supported by the linearactuators 130 on the ground.

In some embodiments, a controller (e.g., the controller 4502, shown anddescribed with respect to FIG. 45 ) may be configured to control theoperation of the various components of the rotation system bytransmitting signals to components. For example, the controller 4502 maytransmit a signal to an actuator of the winch assembly 409, causing theactuator to rotate or extend the boom 408 from the stowed position tothe deployed or extended position. Once the rope 410 is connected to thehousing portions 120, 160 or the hinge 199, the controller 4502 maytransmit a signal to the winch 414, causing the winch 414 to rotate andcoil the rope 410 to pull the housing portions 120, 160 toward the endof the boom 408. The controller 4502 may be configured to control othercomponents of the system as well. For example, the controller maytransmit signals to the front and rear winches 3032, 3034 (shown in FIG.30 ) causing them to coil their respective ropes, to the crawlers 190,causing them to move to specified locations and/or adjust the height ofthe housing portions 120, 160, or to the linear actuators 130 coupled tothe housing portions 120, 160, causing them to extend or retract to aspecified length. The controller 4502 may be controlled via user input.For example, a user may input commands (e.g., via a graphical userinterface on a user device such as a tablet computer) and the controller4502 may execute the commands by transmitting signals to the varioussystem components. For example, the graphical user interface may includea “Deploy Boom” button that, when pressed by the user, causes thecontroller to transmit a signal to an actuator of the winch assembly409, causing the actuator to rotate or extend the boom 408 from thestowed position to the deployed or extended position.

In some embodiments, several commands may be programmed in advance, andthe method 300 may be executed with none or minimal user input. Forexample, after the housing portions 120, 160 have been rotated by thewinch assembly 409 and coupled together, and the rope 410 has beendisconnected, the controller 4502 may transmit signals to the componentsin a predefined sequence. The user may, for example, select an “Unload”button on the graphical user interface, which may cause the crawlers 190to deploy and position themselves under the overhanging portions 126,166 of the modular home 101, the linear actuators 130 to extend down toengage the crawlers 190 and lift the modular home 101 off of the bed404, the crawlers 190 to move the modular home 101 to the installationlocation, and the linear actuators 130 to disengage from the crawlers190 one at a time, while the crawlers return to the trailer 30, andengage the ground to support the modular home. All of these steps may beperformed without on-site human interaction based on preprogrammedinstructions transmitted to or accessible by the controller 4502. Theuser device may be wirelessly coupled to the controller 4502 (e.g., viaWi-Fi, Bluetooth, a cellular connection, etc.), may be one or morecomponents of the trailer 30 (e.g., physical buttons located on thetrailer, a graphical user interface located on the trailer 30), or maybe connected to the trailer via a wired connection (e.g., form the cabof the truck towing the trailer 30). The controller 4502 may be, forexample, a component of the trailer 30 or a component of the userdevice. In some embodiments, there may be multiple controllers 4502. Forexample, the winch assembly 409 may have a different controller 4502than the linear actuators 130, each crawler 190 may have a separatecontroller 4502, etc. In some embodiments, a central controller 4502 maybe configured to transmit signals to separate controllers of theindividual system components.

Referring now to FIG. 5 , a sequence 500 for rotating a modular home(e.g., modular home 101) on a trailer is described, in accordance withsome embodiments. The sequence 500 may include more or fewer operationsand the operations may be performed in any order. Performance ofsequence 500 may enable a modular home 101 to be removed from a singletrailer bed without the use of a crane. For example, the sequence 500may involve a unique trailer bed (e.g., a trailer bed that includes aroller deck, side winches, guide pins, stabilizing landing gear, etc.)and unique components within or on the modular home 101 that allow thehome 101 to fold in half (e.g., a hinge, a pin hole in the floor, etc.)and dismount from the truck (e.g., integrated mechanical lifting legs).The components of the trailer bed may fold two portions (e.g., housingportions 120, 160) of a modular home 101 laying on the trailer bed intoa single modular home. For instance, side winches on the trailer bed maypull the modular home 101 from a central point hinge welded to the twoportions' structural frames. A roller deck on the bed may allow the hometo freely slide on the trailer deck. Holes in the modular home 101 mayaccept a sliding pin embedded in the trailer deck. The pin may guide thehome 101 as the home folds in half. Quick connect bolts and gaskets mayclick the home together similar to how a car door shuts into the frameof a car. In this way and using the aforementioned components, a modularhome 101 may be folded on a trailer bed while using minimal humaneffort.

At operation 502 of sequence 500, a modular home 101 is positioned on abed of the trailer. The modular home 101 may include a first housingportion 120 and a second housing portion 160, which may be arrangedlongitudinally on the bed 404 of the trailer 30. The first housingportion 120 may include a first vertical edge that is coupled by a hinge199 to a second vertical edge of the second housing portion 160. Thehinge 199 may enable the two housing portions 120, 160 to be folded intoa single modular home 101 while the two portions 120, 160 remain on thebed 404.

At operation 504 of sequence 500, the first housing portion 120 and thesecond housing portion 160 are rotated or folded such that the first andsecond housing portions 120, 160 each overhang first and second sides ofthe bed of the trailer, thus forming a first overhanging portion 126 anda second overhanging portion 166 of the modular home 101. In someembodiments, a boom or jib 408 may extend from one side of the bed 404of the trailer 30, and a winch 414 may pull a rope 410 through a pulley412 at the end of the boom 408 to pull the center of the modular home101 away from the bed, causing the rotation of the first and secondhousing portions 120, 160. The bed 404 of the trailer 30 may include aplurality of ball transfer units 406 to reduce the friction between themodular home 101 and the bed 404. Each housing portion 120, 160 may berotatably coupled to a rotation pin 510, 512 positioned in a slot 514 inthe bed 404 of the trailer 30. By pulling the modular home 101 with thewinch 414 through the pulley 412, the housing portions 120, 160 mayrotate about the rotation pins 510, 512, and the rotation pins may slidealong the slot toward each other as the housing portions rotate. Morespecifically, and as illustrated in FIG. 29 , the winch assembly 409 andthe hinge 199 may be positioned on opposite sides of the trailer, therope 410 may be extended between the housing portions 120, 160 andconnected to the hinge 199 or to one of the housing portions 120, 160 inan area near the hinge 199. As the winch 414 retracts the rope 410, thehinge 199 is pulled toward the winch assembly 409. At first, therotation pins 510, 512 may move away from each other, towards the frontand rear of the trailer 30, respectively, until the hinge 199 crossesthe centerline of the bed 404 above the slot 402. Then, as the hinge 199is pulled beyond the centerline, the rotation pins 510, 512 may movetoward each other and the center of the trailer bed 404.

In some embodiments, a winch may be coupled to the rotation pins and maypull the rotation pins toward each other, thus causing the rotation ofthe housing portions. In some embodiments, a first winch may begin therotation of the housing portions 120, 160 using the boom and pulley asdescribed above, and a second winch may complete the rotation by pullingthe rotation pins 510, 512 toward each other. At operation 506 ofsequence 500, the housing portions 120, 160 continue to rotate the pinscontinue to move toward each other.

At operation 508 of sequence 500, the two housing portions 120, 160meet. A first horizontal edge of the first housing portion 120 may thenbe coupled to a second horizontal edge of the second housing portion160. For example, the top and/or bottom edges of the housing portions120, 160 may be coupled together. Alternatively or in addition, thirdvertical edge of the first housing portion 120 may be coupled to afourth vertical edge of the second housing portion 160. Thus, thevertical edges opposite the vertical edges to which the hinge 199 iscoupled may be coupled together. Then, a plurality of linear actuators130 coupled to the first and second overhanging portions 126, 166 of themodular home 101 may be extended downward and may engage the ground or aplurality of crawlers to lift the modular home 101 off the bed of thetrailer 30.

In some embodiments, the modular home 101 may include only one housingportion and may not include a hinge. The single housing portion may berotatably coupled to a rotation pin and rotated in a manner similar tothat of the modular home that includes two housing portions (e.g., usinga winch to pull a rope through a pulley on the end of a boom). With nohinge coupling the single housing portion to another housing portion,the rotation pin may not be required to slide along a slot. Once thesingle housing portion is overhanging the first and second sides of thetrailer, a plurality of linear actuators 130 may extend downward fromthe overhanging portions to engage the ground or a plurality of crawlersto lift the single housing portion off the bed of the trailer.

FIG. 6 illustrates a modular home 600, according to some embodiments.The modular home 600 may include a first housing portion 601 and asecond housing portion 603. The structure of an individual housingportion is shown in further detail in FIGS. 7A-7F. The first housingportion 601 may include a first floor, a first ceiling, a first set ofat least three walls, a first vertical edge of a first wall of the firstset, and a first opening between a first horizontal edge of the firstfloor, a first horizontal edge of the first ceiling, and the firstvertical edge. The second housing portion 603 may include a secondfloor, a second ceiling, a second set of at least three walls, a secondvertical edge of a second wall of the second set, and a second openingbetween a second horizontal edge of the second floor, a secondhorizontal edge of the ceiling, and the second vertical edge.

The first vertical edge may be coupled to the second vertical edge by ahinge 605. The first horizontal edge of the first housing portion 601may be configured to be coupled to a second horizontal edge of thesecond housing portion 603. The first housing portion 601 may rotateabout the hinge 605 relative to the second housing portion 603 from anopen position 602 to a closed position 604. The first housing portion601 may be rotated relative to the second housing portion 603 as much asabout 175-185 degrees from the closed position, such that in the openposition, the housing portions 601, 603 are arranged longitudinally anda first opening 610 in the first housing portion 601 is facingsubstantially the same direction as a second opening 612 and the secondhousing portion 603. In the closed position 604, the first opening 610in the first housing portion 601 and the second opening 612 in thesecond housing portion 603 meet and form the passageway between thehousing portions 601, 603.

Three walls of the first housing portion 601 and three walls of thesecond housing portion 603 may form the outer walls of the completedmodular home 600 when the two housing portions 601, 603 are coupledtogether (e.g., in the closed position 604). In some embodiments, thehousing portions 601, 603 are configured to fit onto a flatbed trailerthat may be approximately 8 feet in width with 40 feet of usable length.The first walls 621, 631 and third walls 623, 633 of each respectivehousing portion 601, 603 may thus be roughly 8 feet wide, and the secondwall 622, 632 of each housing portion may be roughly 20 feet wide, suchthat when the housing portions 601, 603 are arranged end-to-end, theyoccupy substantially all of the usable area of the trailer bed. When thehousing portions 601, 603 are rotated and coupled into the closedposition 604 shown in FIG. 6 , the first walls 621, 621 of each housingportion 601, 603 combine to form the first \ outer wall 641 of themodular home 600, and the third walls 623, 623 of each housing portion601, 603 combine to form the third outer wall 643 of the modular home600. When the trailer bed is 8 feet wide, the first and third outerwalls of the modular home may be approximately 16 feet long. The secondwall 622 of the first housing portion 601 may form the second outer wall642 of the modular home 600, and the second wall 632 of the secondhousing portion 603 may form the fourth outer wall 644 of the modularhome 600. It should be understood that the dimensions discussed aboveare exemplary only, and the trailers and/or housing portions may belarger or smaller depending on the desired size of the modular home.

As shown in FIG. 6 , in some embodiments, each housing portion 601, 603includes a fourth wall 624, 634. The fourth wall 624, 634 of eachhousing portion 601, 603 may include at least one opening 610, 612. Whenthe housing portions 601, 603 are rotated and coupled together, thefourth walls 624, 634 of each housing portion 601, 603 may cooperativelyform interior walls of the housing portion. The openings 610, 612 may bealigned to form at least one passageway 650 between a first living area652 (e.g., a first space within the first housing portion 601, aninterior space, etc.) defined by the four walls 621-624 of the firsthousing portion 601 and a second living area 654 (e.g., a second spacewithin the second housing portion 603, an interior space, etc.) definedby the four walls 631-634 of the second housing portion 603, such that asingle contiguous living area is formed between the first and secondliving areas 652, 654 joined by the passageway 650. Each of the firstand second living area 652, 654 may itself include additional internalwalls 660 to separate rooms within the living area 652, 654. Thus, whenthe housing portions 601, 603 are arranged longitudinally on the trailerbed 404, the openings 610, 612 may be arranged to face the samedirection (e.g., both openings 610, 612 may be positioned on and facethe area to the left side of the trailer 30). The openings 610, 612 maybe positioned the same distance away from the hinge pin, such that wheneach housing portion 601, 603 is rotated ninety degrees about the hingepin, the openings 610, 612 align.

In some embodiments, the wall 621 may be referred to as a first wall,the wall 623 may be referred to as a second wall, the wall 631 may bereferred to as a third wall, the wall 633 may be referred to as a fourthwall, the wall 624 may be referred to as a fifth wall, and the wall 634may be referred to as a sixth wall. The fifth wall 624 may be definedbetween vertical edges of the first wall 621 and the second wall 623, ahorizontal edge of the first floor, and a horizontal edge of the firstceiling. The sixth wall 634 may be defined between vertical edges of thethird wall 631 and the fourth wall 633, a horizontal edge of the secondfloor, and a horizontal edge of the second ceiling.

In some embodiments, each housing portion 601, 603 may not include afourth wall 624, 634. Instead, where there would be a fourth wall, theremay be an opening defined by vertical edges of the first and third walls621, 623, 631, 633 and horizontal edges of the floor and ceiling. Whenthe housing portions 601, 603 are rotated and coupled together, they mayform a single living area bounded by the three walls 621, 622, 623, 631,632, 633 of each housing portion 601, 603, with the first and thirdwalls 621, 623, 631, 633 of each housing portion combining to form firstand third outer walls 641, 643 of the modular home, the second wall 622of the first housing portion 601 forming the second outer wall 642 ofthe modular home, and the second wall 632 of the second housing portion603 forming the fourth outer wall 644 of the modular home. Similar tothe embodiments in which each housing module includes a fourth outerwall that becomes an inner wall of the completed modular home, eachhousing portion may include internal walls 660 to separate rooms withinthe living area.

The vertical and horizontal edges that meet when the housing portions601, 603 are rotated and coupled together may form a rectangular frame.For example, the first and second vertical edges, the horizontal edgealong the floor, and the horizontal edge along the ceiling may form theframe. The frame may surround a wall that becomes an internal wall whenthe housing portions 601, 603 are coupled together, or may surround anopen side of the housing portion 601, 603. The frames may besubstantially flat, such that each frame can be coupled to the flatframe of the other housing portion 601, 603 to form a contiguous sealaround the entire side of the housing portion 601, 603. This may keepwater and debris out of the living area 652, 654 and may improve heatingand cooling efficiency.

Housing Portion Frame

FIGS. 7A-7F illustrate different view of a structural frame of a housingportion, according to some embodiments. In some embodiments, thestructural frame may be organized into a grid (e.g., a three foot grid)with four primary ‘moment frames’ to create a rigid tube structure. Theentire frame may be welded aluminum as a cheap light material. The floorstructure of the frame may include special provisions for penetratingsupport legs and holes for guiding pins used in offloading the framefrom a truck bed using the systems and methods described herein.

The structural frame may be structured to be a lightweight frame thatcan fold in half to form a single modular home with another similarframe, have a rigid thin structure, and have a floor diaphragm that canwithstand shear forces resulting from scraping against a truck bedduring rotation. To be structured in such a manner, the structural framemay have transverse spacing (e.g., three foot transverse spacing) thatmaintains fabrication redundancy and cost efficiency. The frame may alsobe built using welded aluminum framing and thin corrugated shear panelsto reduce the weight of the structure. A hinge may be welded to theframe for folding of the frame with another similar frame. Primary andsecondary members may be bent to form a unique home shape. Additionally,the floor of the frame may have a rigid diaphragm with a centralreinforced pin hole to enable the frame to rotate on a truck bed.Lifting leg housing sleeves may penetrate the perimeter of the floor toallow lifting legs (e.g., mechanical actuators) to pass through to theground. The structural frame may also have a concept recess designstructure to house front and rear hinge assemblies for fold-down decks.Finally, the different components of the structural frame may be boltedtogether through a bolting system that provides rigidity to the frame.

For example, in FIG. 7A, a perspective view of a housing portion frame702 is shown, according to some embodiments. The frame 702 may include afloor panel assembly 722 and a roof panel assembly 724 supported by anouter side panel assembly 726, an inner side panel assembly 728, and twoend panel assemblies 730. The outer side panel assembly 726 may includeone or more outer doorways 727 and the inner side panel assembly 728 mayinclude one or more inner doorways 732 to allow passage between housingportions 601, 603 when two housing portions 601, 603 are joined. FIG. 7Bis a side view of a frame 704. The roof panel assembly 724 may be slopedtowards the outer side panel assembly 726 to allow water to flow off ofthe roof, which may include solar panels for self-sustainability.

FIG. 7C is a detailed view of a portion of a frame 706 of a modular homehousing portion 601, 603, according to some embodiments. The frame 706may include a floor panel assembly 722, an inner side panel assembly 728and an outer side panel assembly 726 extending vertically from the floorpanel assembly 722, and a roof panel assembly 724 supported by the sidepanel assemblies 726, 728. Each panel assembly 722-730 may include panelportions coupled to the frame portions. The panel portions may be, forexample, sheets of glass, metal, wood, or other materials. The frame 706may also include a plurality of housing sleeves 707 coupled to the floorpanel assembly. Each housing sleeve may be configured to receive alinear actuator for lifting and lowering the frame 706. The housing of alinear actuator, (e.g., linear actuators 130) may be coupled to thehousing sleeve 707 such that when the rod of the linear actuator extendstowards and engages the ground, the linear actuator lifts the frame 706(e.g., the entire housing portion 601, 603) off the ground. FIG. 7Dshows a similar detailed view of a portion of a frame 708 at an outerwall of the frame 708, rather than the inner wall shown in FIG. 7C,according to some embodiments. The housing sleeves 707 may be positionedat various locations around the housing portion 601, 603 of the modularhome such that linear actuators may be coupled to the housing portion601, 603 to cooperatively support the housing portion 601, 603. Housingsleeves according to some embodiments are shown in further detail inFIG. 10A.

FIG. 7E is a section view of a portion of an inner side panel assembly710, according to some embodiments. The outer wall 752 of the inner sidepanel assembly 710 may include a corrugated panel 754 coupled to one ormore vertical pillars 756. The inner wall 758 of the inner side panelassembly 710 may include wood or a medium density fiberboard panel.Thermal insulation may be positioned between the inner wall 758 and theouter wall 752.

FIG. 7F shows the structural frame of a roof panel assembly 712,according to some embodiments. The structural frame may accommodate theinstallation of one or more skylights 760 in the roof panel assembly712. FIG. 7G shows the structural frame of a side panel assembly 714,according to some embodiments. The structural frame may include one ormore openings forming doorways 732 in the side panel assembly 714.

FIG. 7H shows the structural frame of a floor panel assembly 716 of amodular home housing portion, according to some embodiments. The floorpanel assembly 716 may include a plurality of structural members 762that support the floor of the housing portion. At least one side panelassembly 716 can be coupled to and can extend vertically from the floorpanel assembly 716 to support a roof panel assembly 712. The modularhousing portion frame 706 may include a pin hole 717 (e.g., pin socket,etc.) positioned below and coupled to the floor panel assembly 716. Insome embodiments, the pin hole 717 may be welded to structural membersof the floor panel assembly 716. In some embodiments, the pin hole 717may be coupled to the floor panel assembly 716 using fasteners or otherfastening devices. The pin hole 717 may be cylindrical in shape and openon the bottom, such that the pin hole 717 is configured to receive arotation pin in the bed 404 of a trailer 30. The rotation pin isdescribed according to some embodiments with reference to FIGS. 28A and28B. Coupling the pin hole 717 (e.g., positioning the pin hole 717around the pin) to the rotation pin enables rotation of the modular homeabout the pin.

Hinge

To fold two portions of a modular home in half, a hinge coupled tovertical edges of each portion may be used. For example, two leaves of ahinge may be coupled to vertical edges of portions of a modular home.The hinge may be designed to fold the two portions without breaking orbending during transportation (e.g., while the trailer transports thetwo portions of the modular home to the home's final building site)and/or to be aesthetically pleasing and expressive on the modular homebuilding façade. For example, the hinge may be a large (e.g., eight feetand higher, depending on the scale of the modular home) hinge thatconnects two portions of a modular home. The hinge may be welded orbolted to the main structural framing of each portion of the modularhome. The hinge may be formed of a combination of one or more ofaluminum, carbon steel, and/or nylon. The hinge may operate to guide thetwo portions as the portions fold similar to a closing door. The leavesof the hinge may lay flush against the outside layer of the structureframes of the two portions, thus enabling the hinge to be visuallypleasing and expressive on the façade of the home while still enablingthe modular home to be folded together.

For example, referring now to FIG. 8A, a modular home 802 with a hinge199 coupling a first housing portion 601 of the modular home 802 to asecond housing portion 603 is shown, according to some embodiments. Thefirst housing portion 601 may include a first inner wall 811, and thesecond housing portion 603 may include a second inner wall 813. Forclarity, the inner walls 811, 813 are positioned on the outsides of eachhousing portion 601, 603, but when the housing portions 601, 603 arecoupled together, the inner walls 811, 813 face each other and becomeinner walls of the complete modular home 802. The second housing portion603 may be configured to be coupled to the first housing portion 601such that the first inner wall 811 is adjacent to the second inner wall813. Each inner wall 811, 813 is shown with a respective corrugatedouter panel. The modular home may include a hinge 199 that hingedlycouples the first housing portion 601 to the second housing portion 603.The hinge 199 may include a first leaf 821 coupled to the first innerwall 811 and a second leaf 823 coupled to the second inner wall 823. Thehinge 199 may include a hinge pin 825 that couples the first leaf 821 tothe second leaf 823 such that the first housing portion 601 may be ableto rotate relative to the second housing portion 603 about the hinge pin825. The hinge leaves 821, 823 may be welded to the housing portions601, 603, fastened to the housing portions 601, 603 with fasteners, orcoupled to housing portions 601, 603 using any other fastening methods.

FIG. 8B shows a plan view of a modular home 804 including a hinge 199,according to some embodiments. When the housing portions 601, 603 arearranged longitudinally for transportation on the bed 404 of a trailer30, there may be a gap 830 between the first and second housing portions601, 603 to accommodate the hinge bores 827 and the hinge pin 825, aswell as to prevent the housing portions 601, 603 from contacting oneanother during shipping. When the housing portions 601, 603 are rotatedand coupled together, the hinge leaves 821, 823 may rotate about thehinge pin 825 until they contact each other. The hinge leaves 821, 823may be recessed into the inner walls 811, 813 of the housing portions601, 603 such that the housing portions 601, 603 are flush against eachother when the hinge leaves 821, 823 contact each other.

FIG. 8C is an exploded view of a hinge 806 (e.g., similar to the hinge199) for coupling a first housing portion to a second housing portion ofa modular home (e.g., housing portions 120, 160 of the modular home101), according to some embodiments. The hinge 806 may include a firsthinge leaf 831 with a first upper bore 827 and a second hinge leaf 823with a first lower bore 829. As described herein, “bore” refers to astructural portion of the hinge 806 that includes an opening for a hingepin (e.g., hinge pin 825), rather than referring to only the openingitself. The first upper bore 827 may include a slot 835 that includes anupper shoulder (e.g., a widening of the slot 835 near the top of theslot 835) and a lower shoulder (e.g., the bottom of the slot). The firstupper bore 827 may be configured to slidably receive a first hinge pin825. The hinge 806 may also include the first hinge pin 825, which maybe received in the first upper bore 827. The handle 832 may be coupledto and extend away from the first hinge pin 825. The handle 832 may beconfigured to slide within the slot 835 between the upper shoulder andthe lower shoulder to move the first hinge pin 825 between an upperposition and a lower position. The first lower bore 829 may beconfigured to receive the first hinge pin 825 when the first hinge pin825 is in the lower position. The hinge 806 may include a second (and athird, etc.) hinge pin 825, a second upper bore, and a second lower borethat function similarly to the first hinge pin 825, first upper bore827, and first lower bore 829.

During shipping of the modular home, the hinge pin 825 may be positionedin the upper position with the hinge pin handle 832 on the uppershoulder of the slot 815, such that the hinge pin 825 does not extendinto the lower bore 807 and is thus disengaged from the second leaf 833.Thus, the first housing portion 120 may not be coupled to the secondhousing portion 160 by the hinge 806 when the modular home 101 is beingshipped on the bed 404 of the trailer 30. This may prevent damage to thehinge 806 due to vibration and shifting of the modular home 101 due to,for example, bumpy roads, potholes, etc. When the trailer 30 arrives atthe unloading zone, a user may move the hinge pin handle 832 from theupper shoulder to the lower shoulder to drop the hinge pin 825 partiallyinto the lower bore 829, thus coupling the first leaf 831 to the secondleaf 833. The hinge 806 may include nylon bushings 837 positionedbetween the hinge pin 825 and the bores 827, 829 to reduce friction inthe hinge 806. A bushing 837 may include a slot 839 that correspondswith the slot 835 in the upper bore 827, such that the handle 832 mayslide through both slots 839 to the lower shoulder.

FIGS. 8D-8E illustrate components of hinges 808, 810, 812, 814 asdifferent views of a hinge (e.g., hinge 199), according to someembodiments. Hinges 808, 810, 812, 814 may be similar to or the same ashinges 199, 806, as described above. As mentioned, a hinge that can beused in the systems and methods described herein may be designed toavoid breaking while the hinge is coupled to two portions of a modularhome and there is deflection and bouncing in the trailer 30. A hingethat is coupled to both portions 120, 160 at the same time may break asthe trailer 30 goes over bumps in the road. To overcome this problem, ahinge 199 may be designed with connection pins in upper bores of thehinge and such that the two leaves of the hinge are not coupled witheach other. When the trailer 30 arrives at the final destination, thepins may drop from the upper position down into the bore holes below,thus coupling the leaves of the hinge together to form a single hinge orhinge assembly. Upon being coupled, the hinge may help facilitatefolding the two portions of the modular home together.

Referring now to FIG. 9 , a method 900 for transporting assembling ahinge (e.g., hinge 806) of a modular home 101 is described, inaccordance with some embodiments. The method 900 may include any numberof operations and the operations may be performed in any order. Themethod 900 may be performed by equipment of a construction company(e.g., the components of system 4500, shown and described with referenceto FIG. 45 ). At operation 902 of the method 900, a modular home 101 istransported from a first location to a second location. The modular home101 may be transported on the bed 404 of a trailer 30. The modular home101 may include a first housing portion 120 and a second housing portion160. A first leaf 831 of a hinge 806 may be coupled to a vertical edgeof the first housing portion 120 and a second leaf 833 of a hinge 806may be coupled to a vertical edge of the second housing portion 160. Thefirst leaf 831 of the hinge 806 may include an upper bore 827. Thesecond leaf 833 of the hinge 806 may include a lower bore 829. A hingepin 825 may be positioned within the upper bore 837. During operation902, while the modular home 101 is being transported from the firstlocation to the second location, the hinge pin 825 and the second leaf833 may be separated (e.g., the hinge pin may be disengaged from andremain above the second leaf 833). At operation 904 of the method 900,when the modular home 101 is at the second location, the hinge pin 825is moved (e.g., dropped by an individual) into the lower bore 829 of thesecond leaf to a position at which the hinge pin 825 is partiallyreceived within the upper bore 827 and partially received within thelower bore 829.

Mechanical Legs and Leveling System

Referring now to FIG. 10A, a linear actuator 1001 is shown coupled to amodular home 1000, according to some embodiments. The linear actuator1001 may include a rod 1005 that extends from a housing 1003. The linearactuator 1001 may be an electromechanical actuator that includes, forexample, a ball screw, a lead screw, or an acme screw. In someembodiments, the linear actuator 1001 may be a hydraulic or pneumaticactuator. The rod 1005 may be a telescoping rod that includes multiplemembers that nest inside one another. The housing 1003 of the linearactuator 1001 may be coupled to a housing sleeve 1007. The housingsleeve 1007 may be coupled to a floor panel assembly 1009 of the modularhome 1000. The housing 1003 of the linear actuator 1001 may extend abovethe floor panel assembly into a cavity between an inner panel 1011 of awall of the modular home 1000 and an outer panel 1013 of the wall. Theouter panel 1013 may define an outside surface of the modular home 1000,and the inner panel 1011 may define an inside surface of the modularhome. The rod 1005 may extend downward from the floor panel assembly1009 to engage (e.g., contact) an installation site surface. The modularhome may include a plurality of linear actuators 1001 positioned withinthe cavity between the inner panel 1011 and the outer panel 1013 orwithin a similar cavity of one of the other walls of the modular home.When the rods 1005 of each of the plurality of linear actuators 1001engage the installation site surface, the linear actuators 1001 supportthe modular home 1000 above the site surface.

FIG. 10B shows an exploded view of a base plate assembly 1020 of alinear actuator 1004. The linear actuator 1004 may include a rod 1005that extends downward from a housing 1003 and may be configured toextend and retract. The linear actuator 1004 may include a ball stud1021 coupled to a distal end of the rod 1005 and a base plate 1023 witha ball socket 1025 configured to receive the ball stud 1021. The baseplate 1023 may be configured to rotate about the ball stud 1021 to allowthe linear actuator 1004 to engage angled or uneven surfaces. When amodular home (e.g., modular home 802) is being supported by theplurality of linear actuators 1004, the installation site surface may beangled or uneven in certain portions where the linear actuators 1004engage. The ball stud 1021 and ball socket 1025 provide angularcompliance of the base plate 1023 to allow the base plate 1023 to sitflat on surfaces that are not perpendicular to the rod 1005 of thelinear actuator 1004. In some embodiments, the base plate 1023 may beconfigured to tilt up to 8 degrees in any direction. The base plate 1023may have a sufficiently large surface area such that, when the modularhome is installed, the base plate 1023 may rest on surfaces such asgrass or soil without sinking into the surface. Thus, a concrete orstone foundation may not be required for the modular home 802.

FIGS. 10C-10E illustrate the mounting and components of linear actuators1006, 1008, 1010 in further detail, according to some embodiments.Linear actuators 1006, 1008, 1010 may be similar to or the same aslinear actuators 1002, 1004, 1006, as described above. As mentioned, alinear actuator that can be used in the systems and methods describedherein may be designed to lift a modular home off of a trailer withoutthe use of a crane and to have a “self-leveling” mechanism to level themodular home on uneven terrain. The linear actuator 1006, 1008, 1010 maybe an electrical mechanical extender that can be installed into a cavityof a frame of a divided modular home. The linear actuator 1006, 1008,1010 may be configured to raise and lower the modular home inconjunction with other linear actuators that are coupled to the floorassembly to raise the modular home (e.g., modular home 802) off of atrailer bed and/or level the modular home (e.g., modular home 802) onuneven terrain. The linear actuators 1006, 1008, 1010 may have integralfooting (e.g., base plate 1023) to help enable the linear actuators1006, 1008, 1010 to press against the ground without breaking, bending,or sliding.

Referring now to FIG. 11 , a method 1100 of unloading a modular home(e.g., modular home 101) from a trailer (e.g., trailer 30) is described,according to some embodiments. The method 1100 may include any number ofoperations and the operations may be performed in any order. The method1100 may be performed by equipment of a construction company (e.g., thecomponents of system 4500, shown and described with reference to FIG. 45). At operation 1102 of the method 1100, a modular home 101 ispositioned on the bed of a trailer 30. The modular home may include afirst housing portion (e.g., housing portion 120) having first verticaledge coupled to a second vertical edge of the second housing portion(e.g., housing portion 160) by a hinge (e.g., hinge 199). The first andsecond housing portions 120, 160 may be arranged longitudinally on thebed 404 of the trailer 30. At operation 1104 of the method 1100, thefirst housing portion 120 and the second housing portion 160 are rotatedsuch that the first and second housing portions 120, 160 each overhangfrom the first and second sides of the bed 404, thus forming a firstoverhanging portion and a second overhanging portion (e.g., overhangingportions 126, 166) of the modular home 101. At operation 1106 of themethod 1100, a first horizontal edge of the first housing portion 120 iscoupled to a second horizontal edge of the second housing portion 160upon completion of the rotating of the housing portions 120, 160. Insome embodiments, another vertical edge of the first housing portion 120may be coupled to another vertical edge of the second housing portion160 instead of or in addition to coupling the first horizontal edge tothe second horizontal edge. At operation 1108 of the method 1100, aplurality of linear actuators (e.g., linear actuator 1001) coupled tothe first and second overhanging portions 126, 166 of the modular home101 extend downward towards the ground. The plurality of linearactuators 1001 may engage the ground and lift the modular home 101 offthe bed 404 such that the plurality of linear actuators 1001 support themodular home 101.

Referring now to FIG. 12 , a method 1200 of unloading a modular homefrom a trailer (e.g., trailer 30) is described, according to someembodiments. The method 1200 may include any number of operations andthe operations may be performed in any order. The method 1200 may beperformed by equipment of a modular home construction company (e.g., thecomponents of system 4500, shown and described with reference to FIG. 45). At operation 1202 of the method 1200, a modular home is positionedlongitudinally on a bed 404 of a trailer 30. The modular home mayinclude only one housing portion and may not be hingedly coupled to asecond housing portion. At operation 1204 of the method 1200, modularhome is rotated such that the modular home overhangs from first andsecond sides of the bed of the trailer, thus forming a first overhangingportion and a second overhanging portion (e.g., similar to overhangingportions 126, 166 but with only a single housing portion) of the modularhome. At operation 1206 of the method 1200, a plurality of linearactuators (e.g., linear actuator 1001) coupled to the first and secondoverhanging portions of the modular home extend downward towards theground. The plurality of linear actuators 1001 may engage the ground tolift the modular home off the bed such that the plurality of linearactuators support the modular home. The method 1200 may not be limitedto unloading modular homes. For example, other types of loads, includingshipping containers, may be positioned longitudinally on the bed of atrailer, rotated such that the load overhangs from the first and secondsides of the trailer, and a plurality of linear actuators coupled to theload may extend towards and engage the ground to lift the load off ofthe trailer. An embodiment of the method 1200 is shown in further detailin FIG. 27B.

Referring now to FIG. 13 , a method 1300 of leveling a modular home(e.g., modular home 101) on a site surface is described, according tosome embodiments. The method 1300 may include any number of operationsand the operations may be performed in any order. The method 1300 may beperformed by equipment of a modular home construction company (e.g., thecomponents of system 4500, shown and described with reference to FIG. 45). At operation 1302 of the method 1300, the modular home 101 ispositioned on the site surface and supported by a plurality of linearactuators (e.g., linear actuators 1001) coupled to a frame of themodular home 101. Each linear actuator 1001 may include a rod 1005 thatextends downward from the frame to engage the site surface. At operation1304 of the method 1300, the extension of each linear actuator 1001 isadjusted until the frame is level. The modular home 101 may includesensors to determine the relative elevation of the site surface undereach of the linear actuators 1001. The linear actuators 1001 may bemounted to housing sleeves (e.g., sleeves 707) coupled to a floorassembly of the modular home 101. The modular home 101 may includesensors configured to determine the elevation of one housing sleeve 707relative to the other housing sleeves 707. A controller may determine,based on the data from the sensors, whether each housing sleeve 707should be raised or lowered by the respective linear actuator 1001. Forexample, the controller may determine, based on sensor data, that afirst corner of the modular home 101 is at a higher elevation than theother areas of the modular home 101. The controller may control theactuator 1001 at the first corner to retract to lower first corner tolevel the modular home 101. Each linear actuator 1001 may be adjusteduntil the modular home 101 is level.

Floor Assembly

The floor assembly of a portion of a modular home may be configured tooperate as a skid surface under the modular home to help enable rotationof the portion on trailer ball bearings on a trailer bed. The floorassembly may be made of, comprise, or be clad with an aluminum plate(e.g., a skid plate). The plate may be aluminum because aluminum doesnot scrape easily and is generally flexible. However, the plate may bemade of, comprise, or be clad with other metals with similar properties.The aluminum plate may be fixed or coupled to panels or other structuresat the bottom of the floor assembly to protect the floor assembly fromscraping as the modular home rotates on a trailer bed. The aluminum mayadditionally provide the benefit of providing a flat surface to enablesuch rotation. Alternatively, the skid plate may be made of plastic,such as nylon (e.g., Nylon 6, Nylon 6/6, etc.) or another low frictionmaterial in order to reduce the friction between the housing portionsand the surface of the trailer bed when the modular home is rotated ortranslated along the bed.

For example, referring now to FIG. 14A, a partially exploded view of afloor assembly 1400 of a modular home 101 is shown, according to someembodiments. The floor assembly 1400 may include an upper plate 1401that defines the floor of a living area inside the modular home 101. Itshould be understood that the upper plate 1401 may be a single plate orseveral plates arranged to form a single surface. The floor assembly1400 may include a frame 1403 that supports the upper plate 1401. Thefloor assembly 1400 may also include a skid plate 1405 coupled to thebottom of the frame 1403. Each housing portion (e.g., housing portions120, 160) of the modular home 101 may include an upper plate 1401, aframe 1403, and a skid plate 1405. The skid plate 1405 may be made of amaterial having rigidity and a friction coefficient enabling the skidplate 1405 to slide across a surface comprising an array of balltransfer units or a low-friction surface (e.g., the bed 404 of thetrailer 30) without substantially deforming. The skid plate 1405 mayprovide a large surface area allowing the housing portions 120, 160 ofthe modular home 101 to rotate on the bed 404 of the trailer 20 thatincludes a plurality of ball transfer units or a low-friction uppersurface. For example, at least one of the skid plate 1405 or the uppersurface of the trailer bed may be a low-friction surface, such as nylon.The skid plate 1405 may be made from several pieces of material (e.g.,sheets of metal) for ease of manufacturing, rather than a single sheet.In some embodiments, the modular home 101 may be referred to as havingmultiple skid plates 1405 forming a lower surface of the modular home.The upper plates 1401 and the skid plates may be made from differentmaterials. For example, the upper plates 1401 may be sheets of wood,wood composite, or vinyl, which are more commonly associated with homeflooring. The skid plates 1405 may be, for example, sheets of metal,such as aluminum, or sheets of plastic, such as nylon. The skid plates1405 may be configured to reduce the amount of friction between themodular home and a surface on which the modular home is positioned(e.g., the bed of the trailer 30) compared to a modular home in whichthe floor joists 5504 directly contact the support surface. On a surfacesuch as the bed of the trailer 30 that includes a plurality of balltransfer units (e.g., ball transfer units 1457), the skid plates 1405may allow the modular home to roll across the plurality of ball transferunits 1457. Without skid plates 1405 forming a flat lower surface, thefloor joists 5504 of the frame 1403 may fit between the ball transferunits 1457 rather than being supported by and rolling across the balltransfer units 1457. The skid plates 1405 may enable the modular home tobe supported by and move across an array of ball transfer units 1457spaced at least six inches apart. The skid plates 1405 may be thick andstrong enough so as to not plastically deform when the modular home 101is supported only by the ball transfer units 1457 spaced at least sixinches apart. It should be understood that plastic deformation refers tobending of the skid plates 1405 and excludes minor scratches that can beexpected to occur when two materials come into contact. In someembodiments, instead of a plurality of ball transfer units, the bed ofthe trailer 30 may include a flat, low-friction upper surface. Forexample, the upper surface of the bed of the trailer 30 may be a flatsheet of metal, such as aluminum, or plastic, such as nylon. In theseembodiments, the skid plates 1405 may be configured to reduce thefriction between the modular home 101 and the trailer 30. Theseembodiments are discussed in further detail with respect to FIG. 36 .

The skid plates 1405 may be directly coupled to the frame 1403 of thefloor assembly. More specifically, the frame 1403 may include aplurality of floor joists, for example, the floor joists 5504 as shownin FIG. 55A. The floor joists may be, for example I-beams withvertically oriented webs, C-channels with vertically oriented webs, orvertically oriented plates. The skid plates 1405 may be directly coupledto the floor joists 5504. For example, the skid plates may be welded tothe lower flanges of the I-beams or C-channels or to the lower edges ofthe vertically oriented plates. In some embodiments, fasteners such asscrews or bolts may be used to couple the skid plates 1405 to the frame1403. The large surface area of the skid plate 1405 more evenlydistributes the weight of the modular home 101 on the upper surface ofthe trailer bed 404, thus minimizing the friction between the two. Ifthe housing portions 120 160, for example, had floor joists or otherframe members of the frame 1403 supporting the upper plate of the floor1401 without the skid plate 1405, the weight of the housing portions120, 160 would be concentrated on the frame members, resulting in higherlevels of friction. The skid plate 1405 may include openings for bladdertanks as described below and the circular opening 1407 (e.g., the pinhole, pin socket), but otherwise may cover the entire footprint of thehousing portion 120, 160.

In some embodiments, the fasteners (e.g., fastening features such aswelds) may not extend beyond a lower surface of the skid plates 1405.For example, if the skid plates 1405 are welded to the frame 1403, theweld bead may be applied only to the upper surface of the skid plates1405 and may not extend past the lower surface of the skid plates 1405.If threaded fasteners are used to couple the skid plates 1405 to theframe 1403, the skid plates 1405 may include counterbored or countersunkholes such that the heads of the fasteners no not extend beyond thelower surface of the skid plates 1405. If countersunk holes are used,the holes may be cut such that the fastener heads are substantiallyflush with the lower surface of the skid plates 1405 when the skidplates 1405 are coupled to the frame 1403. In some embodiments, the skidplates 1405 may include threaded holes configured to receive threadedfasteners from above. The fasteners may be short enough that they do notextend past the lower surface of the skid plates 1405. Because thefastening features do not extend beyond the lower surface of the skidplates 1405, the lower surface of the modular home 1010 may besubstantially flat, which may improve the ability of the modular home toslide across the surface of the trailer bed, whether the bed is flat orincludes a plurality of ball transfer units 1457. For example, on a flattrailer bed, fasteners extending below the lower surface of the skidplates 1405 may cause a pressure concentration that increases frictionand may damage the bed of the trailer 30. When the bed of the trailer 30includes ball transfer units 1457, fasteners extending below the lowersurface of the skid plates 1405 may not be able to roll over the balltransfer units 1457 without substantial force, which may cause damage tothe ball transfer units 1457 or the modular home 101. The skid plate1405 may include a substantially circular opening 1407 configured toallow a circular rotation pin on the bed of a trailer to be insertedinto the circular opening 1407. The floor assembly 1400 may include asocket (e.g., a pin hole as described above) positioned around thecircular opening 1407 configured to receive the rotation pin 1451. Thecircular opening 1407 in the skid plate 1405 may define an opening ofthe pin socket. The circular opening 1407 and pin socket may havesubstantially the same diameter, which may be slightly larger than arotation pin 1451 as described above. The upper surface of the pinsocket may be defined by a lower surface of the upper plate 1401 of thefloor assembly 1400. For example, the sides of the pin socket may extendfrom the skid plate 1405 to the upper plate 1401. In some embodiments,the pin socket may include a separate plate defining its upper surface.The separate plate may be positioned below the upper plate 1401 and maybe separated from or coupled to the upper plate 1401. The upper surfaceof the pin socket may be a distance from the skid plate 1405 that islower than the height that rotation pin 1451 above the skid plate. Thus,there may be a gap between the upper surface of the pin socket and thetop of the rotation pin 1451, such that the rotation pin 1451 does notprovide subjacent support to the housing portion 120, 160. Because thediameter of the pin socket may be only slightly larger than the diameterof the rotation pin 1451, the housing portion 120, 160 may besubstantially prevented from translating relative to the rotation pin.For example, if the diameter of the pin socket 1409 is one inch largerthan the rotation pin, the housing portion 120, 160 may only move oneinch in any direction relative to the rotation pin. Because the rotationpin is retained in the slot at the center of the trailer 30, the housingportion 120, 160 can be retained by the pin with the center of thehousing portion 120, 160 centered on the trailer's centerline. In someembodiments, the pin socket 1409 may be larger and can be configured toreceive a bearing or liner, for example, a roller bearing, a ballbearing, or a plane bearing. In these embodiments, the inner diameter ofthe bearing or liner may be slightly larger than the diameter of therotation pin. The interface 1402 of a rotation pin 1451 with the socket1409 is shown in further detail in FIG. 14B, according to someembodiments. The bed 1455 of the trailer may include a plurality of balltransfer units 1457 on which the skid plate 1405 may roll. The rotationpin 1451 may roll along a slot 1453 in the bed 1455 to allow translationof the housing portions when they are rotated.

In some embodiments, the pin socket 1409 includes a cylindrical pipesection 1410 extending upward form the circular opening 1407 in the skidplate 1405 or skid plates 1405. The cylindrical pipe section 1410 mayhave a diameter approximately equal to the diameter of the circularopening 1407 and may be coupled at its lower perimeter to the perimeterof the circular opening 1407. In some embodiments, the cylindrical pipesection 1410 may extend all the way to and be coupled to the upper plate1401 of the floor assembly 1400. In some embodiments, the pin socket1409 may include an upper cap 1406 coupled to the top of the cylindricalpipe section 1410. The upper cap 1406 may seal the upper end of thecylindrical pipe section 1410. In some embodiments, the floor assembly1400 may include thermal insulation 1472 positioned between the upperplate 1401 and a second plate 1474. In some embodiments, the cylindricalpipe section 1410 may extend to and be coupled to the second plate 1474of the floor assembly 1400. Flanges 1476 may couple the cylindrical pipesection 1410 to the skid plate 1405 to provide additional support to thepin socket 1409. In some embodiments, the modular home may include oneor more bladder tank support assemblies 5510, as described withreference to FIGS. 55A-C. The skid plate 1405 may include an opening1413 shaped to receive the support platform 5512 of the bladder tanksupport assembly 5510 (e.g., an opening that is slightly larger than afootprint of the support platform 5512). The skid plates 1405 may coversubstantially the entire footprint of the modular home 101 with theexception of the circular opening 1407 configured to receive a rotationpin and one or more of the openings 1413 configured to receive one ofthe one or more support platforms 5512. When the support platforms 5512are in the upper position, the base plates 5542 of the support platforms5512 and the skid plates may form a substantially flush lower surface ofthe modular home 101 covering substantially the entire footprint of themodular home 101 with exception of the circular opening 1407.

FIG. 14C is a section view of a portion of a floor assembly 1404,according to some embodiments. The floor assembly 1404 may include oneor more skid plates 1405 coupled to a floor joists 5504 of the frame1403. The second plate 1474 (e.g., the intermediate plate 1705) may becoupled to the web of the floor joists 5504. The upper plate 1401 maysit on top of the upper flange of the joists 5504. A curved plate 1422may form the lower edge of the modular home 101. Additional supportplates 1424 may be coupled to the upper end of the curved plate 1422 andto the upper flange of the floor joists 5504 to provide additionalstructural support to the modular home 101 and the upper plate 1401. Anexterior edge panel 1426 may cover the curved plate 1422 and, at oneend, may be flush with the outer surface 1428 of the modular home 101.The outer surface 1428 of the modular home 101 may be or may includesolar panels. The modular home 101 may include thermal insulation 1430between the inner surface 1432 of the walls and the outer surface 1428,as well as below the upper plate 1401. At the end of the modular home101, an end plate 1434 sealing the inside of the frame 1403 may includean access hole 1436 to access plumbing and electrical components. Theaccess hole 1436 may include a removable cover to reseal the inside ofthe frame 1403.

Referring now to FIG. 14D, a method 1450 for rotating a modular home(e.g., the modular home 101) comprising at least one skid plate (e.g., athe skid plate 1405) coupled to a bottom end of the modular home 101 anda circular pin socket (e.g., pin socket 1408) positioned above the skidplate around a circular hole (e.g., circular opening 1407) in the skidplate 1405 is described, in accordance with some embodiments. The method1450 may include any number of operations and the operations may beperformed in any order. The method 1450 may be performed by equipment ofa modular home construction company (e.g., the components of the trailer30, shown and described with reference to FIG. 45 ). At operation 1452of the method 1450, a modular home (e.g., modular home 101) ispositioned on a surface comprising a plurality of ball transfer units(e.g., the ball transfer units 1457 on the bed of the trailer 30) withthe modular home 101 supported by the at least one skid plate skid plate1405 and with a rotation pin (e.g., the rotation pin 1451) coupled tothe surface inserted into the pin socket 1408. At operation 1454 of themethod 1450, the modular home 101 is rotated about the rotation pin 1451such that the at least one skid plate 1405 moves across the surfacesupported only by the ball transfer units 1457. As described above, theball transfer units 1457 may be spaced at least 6 inches apart. The skidplates 1405 may have sufficient strength and thickness to support themodular home 101 without plastically deforming while the modular homemoves across the surface supported only by the ball transfer units.

Bladder Tanks

As described herein, to enable a modular home (e.g., modular home 101)as described herein to process and store waste, a bladder tank may bestored in compartments within a floor assembly of a modular home 101 orportion (e.g., housing portions 120, 160) of a modular home 101.However, it may be difficult to transport bladder tanks stored in thefloor of a modular home during transportation of the modular home to abuilding site because bladder tanks can be heavy, take up a large amountof space, and may be amenable to breaking or ripping duringtransportation and rotation of the modular home 101 on the trailer bed404. To account for these issues, before transportation of a portion120, 160 of a modular home 101 on a trailer 30, a manufacturer mayinsert a deflated bladder tank into a floor assembly of the portion ofthe modular home and secure the bladder tank with a flexible securitynet. Once the portion 120, 160 of the modular home 101 has beentransported and the portion 120, 160 rotated and removed from thetrailer 30, air may be forced into the bladder tank to inflate thebladder tank. The bladder tank may be inflated until the bladder tankrests on the ground to avoid adding extra weight on the mechanical legs(e.g., linear actuators 1001) of the modular home 101 when waste andwater is added to the bladder tank.

The bladder tanks in the modular home may operate as water storage and abio-digester of waste. For example, each bladder tank may store cleanwater, recycled water, and gray water. A bladder tank may also breakdown solid waste through a temperature-controlled system in which anelectric warming blank surrounds the bladder tank and heats the bladdertank to maintain a constant temperature.

For example, referring again to FIG. 14A, the floor assembly 1400 mayinclude one or more inflatable bladder tanks 1411 positioned between theupper plate 1401 and the skid plate 1405. In some embodiments, theinflatable bladder tank 1411 may be positioned above the opening 1413 inthe skid plate 1405, and may be configured to expand outward from theopening 1413 when inflated. Netting 1415 may be used to keep the bladdertank 1411 in place between the upper plate 1401 and the skid plate 1405to protect the bladder tank 1411 during shipping. The netting 1415 maybe removed when the modular home is in place at the installation site,and the inflatable bladder tank 1411 may inflate through the opening1413 to expand the size of the bladder tank 1411. Forced air may bepumped into the bladder tanks 1411 to inflate them. Once inflated, thebladder tanks 1411 may rest on the ground at the installation site.Because the bladder tanks 1411 rest on the ground, no additional weightis added to the structure of the modular home 101 when the bladder tanks1411 are filled. In some embodiments (as described below with referenceto FIGS. 55A-55C), a bladder tank support assembly 5510 is configured tolower the bladder tanks 1411 from the floor assembly 1400. The openings1413 may instead be sized to receive a support platform 5512 of thebladder tank support assembly 5510. The bladder tanks 1411 may be usedto store clean water, recycled water, rainwater, and/or gray water. Abladder tank 1411 may be used as a bio-digester that breaks down wastefrom the housing module. In some embodiments, a bladder tank 1411 may bepositioned on top of a support platform of a bladder tank supportassembly configured to raise and lower the bladder tank 1411 at aninstallation site. The bladder tank support assemblies 5510 aredescribed in further detail below with reference to FIGS. 55A-55C.

For example, FIG. 15A is a perspective view of a modular home 1500showing two skid plates 1504, bladder tanks 1411, and netting 1415,according to some embodiments. FIG. 15A is discussed in further detailabove. FIG. 15B is a detailed view of a bladder tank 1411 of a modularhome 101 positioned between an upper plate 1506 of the floor assembly1400 and a skid plate 1503 of the floor assembly 1400 while beingshipped on the bed 404 of a trailer 30, according to some embodiments.An additional bladder housing plate 1555 may be positioned between theupper plate 1506 of the floor assembly 1400 and the skid plate 1503. Thebladder tank 1411 may be mounted to the underside of the bladder housingplate 1555.

Referring now to FIG. 16 , a method 1600 of transporting a modular home(e.g., modular home 101) on a site surface with an inflatable bladdertank (e.g., bladder tank 1411) is described, according to someembodiments. The method 1600 may include any number of operations andthe operations may be performed in any order. The method 1600 may beperformed by equipment of a modular home construction company (e.g., thecomponents of system 4500, shown and described with reference to FIG. 45). At operation 1602 of the method 1600, the modular home 101 is movedfrom a first location to a second location. The modular home may includean inflatable bladder tank 1411 positioned between an upper plate 1506and a lower plate 1405, 1504 (e.g., a skid plate) of a floor assembly1400. The inflatable bladder tank 1411 may be positioned above anopening 1413 in the lower plate 1405 and may be maintained in a deflatedstate between the upper plate 1505 and the lower plate 1405 while themodular home 101 is moved. At operation 1604 of the method 1600, afterarriving at the second location (e.g., the installation site), theinflatable bladder tank 1411 is inflated such that the inflatablebladder tank 1411 extends through the opening 1413 in the lower plate1405.

FIG. 17 shows a modular home 1700 with an inflatable bladder tank thatmay be used as a bio-digester 1701, according to some embodiments. Thebio-digester 1701 may be configured to receive and break down (e.g.,digest) solid waste from a living area of the modular home 1700. Awarming blanket 1703 (e.g., a blanket that contains integratedelectrical heating wires) may be positioned around the bio-digester 1701and may maintain a consistent elevated temperature in the bio-digester1701 to accelerate the digestion of solid waste. In some embodiments,the warming blanket 1703 may be powered by solar panels positioned onthe modular home, such that no electricity from external sources isrequired to be provided the warming blanket. In some embodiments,heaters may be integrated into the support platform of a bladder tanksupport assembly as described below with reference to FIGS. 55A-5C,instead of or in addition to a heating blanket.

Coupling Housing Portions Together

After folding two portions of a modular home together (e.g., housingportions 120, 160 of modular home 101), the two portions may need to becoupled together to create a single modular home. To do so, in oneembodiment, loose bolts may be inserted into vertical and/or horizontaledges of the two portions (e.g., the vertical portions opposite to thevertical portions connected to a hinge). After the two portions arefolded, the bolts may be tightened to cause the edges to be coupledtogether. Thus, the two portions may be securely coupled or fastenedtogether in a seal-proof manner to stop atmospheric particles (e.g.,rain or snow) and/or critters around the modular home from entering themodular home.

For example, referring now to FIG. 18A, two coupling assemblies 1800 forcoupling a first housing portion 120 to a second housing portion 160 ofa modular home 101 are shown, according to some embodiments. FIG. 18Bshows an elevation view 1804 of the coupling assemblies 1800 in positioncoupling a first structural member to a second structural member,according to some embodiments. FIG. 18C shows detailed views 1806 of acoupling assembly 1800, according to some embodiments. The assembly 1800may couple a first structural member 1802 defining a vertical edge ofthe first housing portion 120 to a second structural member 1804defining a vertical edge of the second housing portion 160. Thesevertical edges of the housing portions 120, 160 may be opposite thevertical edges that are joined by a hinge (e.g., hinge 199), asdescribed above. For example, the hinge 199 may join a first edge of thefirst housing portion 120 to a second edge of the second housing portion160. The first structural member 1802 may be positioned at a thirdvertical edge of the first housing portion 120 and the second structuralmember 1804 may be positioned at a fourth vertical edge of the secondhousing portion 160. Each coupling assembly 1800 may include a firstplate 1811 and a second plate 1812 shaped to fit into a correspondingcutout 1813, 1814 in the first or second structural member 1802, 1804.As shown in FIG. 18C, the first plate and second plate 1811, 1812 mayeach include a vertical portion 1821 with an opening 1823 (e.g., a hole,a slot, etc.) configured to receive a fastener 1825 and top and bottomflanges 1827, 1829 coupled respectively of the top and bottom edges ofthe vertical portion 1821 and extending diagonally away from thevertical portion 1821. The cutouts 1813, 1814 in the structural members1802, 1803 may have a profile configured to receive the shape of theplates. The coupling assembly 1800 may include a fastener 1825 (e.g., abolt) that extends through the openings in each plate and acorresponding opening in each structural member 1802, 1803. The fastener1825 may be threaded into a nut 1826 such that the fastener 1925 pullsthe plates 1811, 1813 together to couple together the structuralmembers. The coupling assembly 1800 may further include one or morewashers positioned between the fastener 1825 or the nut 1826 and theopening 1823 in the vertical portion 1821 of the plates 1811, 1813. Insome embodiments, more or less than two coupling assemblies 1800 may beused to join the structural members 1802, 1803. In some embodiments, thecoupling assemblies 1800 may be used to join horizontal structuralmembers, for example along the top edge or the bottom edge of eachhousing portion 120, 160.

Referring now to FIG. 19 , a method 1900 of assembling a modular home(e.g., modular home 101) using the coupling assembly 1800 is described,according to some embodiments. The method 1900 may include any number ofoperations and the operations may be performed in any order. The method1900 may be performed by equipment of a modular home constructioncompany (e.g., the components of system 4500, shown and described withreference to FIG. 45 ). At operation 1902 of the method 1900, themodular home 101 is positioned on the bed of a trailer (e.g., the bed404 of the trailer 30). The modular home 101 may include a first housingportion 120 with the first vertical edge and a second housing portion160 with a second vertical edge. The first and second vertical edges maybe coupled by a hinge (e.g., hinge 199). The first and second housingportions 120, 160 may be arranged longitudinally on the bed 404 of thetrailer 30. At operation 1904 of the method 1900, the first housingportion 120 is rotated relative to the second housing portion 160 untila third vertical edge of the first housing portion 120 meets a fourthvertical edge of the second housing portion 160. At operation 1906 ofthe method 1900, a first structural member 1802 at the third verticaledge of the first housing portion 120 is coupled to a second structuralmember 1803 at the fourth vertical edge of the second housing portion.The coupling of operation 1906 may include inserting a first plate(e.g., plate 1811) into a first cutout 1813 in the first structuralmember 1802. The first plate 1811 may have a vertical portion 1825, anupper flange 1827 extending diagonally from the top edge of the verticalportion 1825, and a lower flange 1826 extending diagonally from thelower edge of the vertical portion 1825. A second plate (e.g., plate1812) may be inserted into a second cutout 1814 of the second structuralmember 1803. The second plate 1812 may be substantially similar to thefirst plate 1811. The first and second cutouts 1813, 1814 may be shapedto respectively receive the first and second plates 1811, 1812. Athreaded fastener (e.g., fastener 1825) may be inserted through holes inthe first plate 1811, the first structural member 1802, the secondstructural member 1803, and the second plate 1812. The threaded fastener1825 may be coupled to a nut 1826 to couple the first structural member1802 to the second structural member 1803.

In another embodiment of coupling two portions of a modular hometogether (e.g., coupling housing portion 120 to housing portion 160 toform modular home 101), a pin and latch system may be used. Pins andlatches may be used to instantly close and lock the portions 120, 160together. For instance, one housing portion 120 may contain protrudingtapered pins on one or more edges. Another portion 160 may contain areceiving latch including one or more edges. After folding the twoportions 120, 160 together, the pins may extend into the latch, causingthe latch to automatically close around the pins. Accordingly, the twoportions may be coupled together without using bolting and through anautomatic locking mechanism.

For example, referring now to FIG. 20 , a coupling assembly 2000 forcoupling a first housing portion to a second housing portion of amodular home (e.g., coupling housing portion 120 to housing portion 160to form modular home 101) is shown, according to some embodiments. Thefirst housing portion 120 may include one or more tapered pins 2002coupled to one or more of the edges 2004 of the first housing portion120 that meet edges 2006 of the second housing portion 160. The secondhousing portion 160 may include one or more receiver latches 2008coupled to one or more of the edges 2006 of the second housing portion160 that meet the edges 2004 of the first housing portion 120. Thereceiver latches 2008 may be configured to receive and couple to acorresponding tapered pin 2002 coupled to an edge of the first housingportion. When the first housing portion 120 is rotated relative to thesecond housing portion 160 and the edges 2004 of the first housingportion 120 meet the edges 2006 of the second housing portion 160, thetapered pins 2002 may be received by the receiver latches 2008 which mayautomatically latch the tapered pins 2002 to the receiver latches tocouple the first housing portion 120 to the second housing portion 160without additional fastening steps.

Referring now to FIG. 21 , a method 2100 of assembling a modular home(e.g., modular home 101) using the coupling assembly 2000 is described,according to some embodiments. The method 2100 may include any number ofoperations and the operations may be performed in any order. The method2100 may be performed by equipment of a modular home constructioncompany (e.g., the components of system 4500, shown and described withreference to FIG. 45 ). At operation 2102 of the method 2100, themodular home 101 is positioned on the bed of a trailer. The modular home101 may include a first housing portion 120 having a first vertical edgeand a second housing portion 160 having a second vertical edge. Thefirst and second vertical edges may be coupled by a hinge (e.g., hinge199). The first and second housing portions 120, 160 may be arrangedlongitudinally on the bed 404 of the trailer 30. At operation 2104 ofthe method 2100, the first housing portion 120 is rotated relative tothe second housing portion 160 until a first horizontal edge (e.g., oneof edges 2004) of the first housing portion 120 meets a secondhorizontal edge (e.g., one of the edges 2006) of the second housingportion 160. The first horizontal edge may include a tapered pin 2002,and the second horizontal edge may include a receiver latch 2008configured to receive and couple to the tapered pin 2002. At operation2106 of the method 2100, the first horizontal edge is coupled to thesecond horizontal edge by inserting the tapered pin 2002 into thereceiver latch 2008.

Gasketing

To secure two portions of a modular home together in a weatherproofmanner, a gasketing process may be used. For example, referring now toFIG. 22A, a modular home 2200 (e.g., similar to modular home 101) isshown with a gasket 2201 coupled to an edge of a first housing portion2220, according to some embodiments. A compression gasket 2201 may bepositioned along an edge 2221 of the first housing portion 2220 thatmeets an edge 2261 of a second housing portion 2260 in order toweatherproof the modular home 2200. The seam between the meeting edges2221, 2261 of the first housing portion 2220 and the second housingportion 2260 may be sealed by a gasket, such as gasket 2201, to preventwater from getting into a first living area of the first housing portionand/or a second living area of the second housing portion, and toimprove the thermal insulation of the home by reducing or eliminatingair leaks. The gasket 2201 may be, for example, a rubber gasket similarto a gasket used on a car door. The gasket 2201 may be compressed whenthe edges 2221, 2261 meet, sealing the seam between the edges 2221,2261. The gasket 2201 may extend around the entire perimeter of a framesurrounding a first wall of the first housing portion 2220 and maycontact the perimeter of a frame surrounding a second wall of the secondhousing portion 2260 such that the entire seam is sealed. The gasket2201 may include openings surrounding tapered pins 2222 to allow thetapered pins 2222 to engage receiver latches 2262 on the second housingportion 2260. By designing gaskets 2201 in this way, gasketing andweather-stripping may be performed without the use of manual labor atthe installation site.

FIG. 22B shows three gaskets 2210, 2220, 2230 that may be used to sealthe seams between the edges of the housing portions. A gasket 2240(e.g., any of gaskets 2210, 2220, 2230) may be coupled along a firstedge 2242 to a housing portion 2244 and may be compressed horizontallywhen a second housing portion 2246 is coupled to the first housingportion 2244. Alternatively, a gasket 2250 (e.g., any of gaskets 2210,2220, 2230) may be coupled along its base 2252 to a housing portion 2254and may be compressed vertically when a second housing portion 2256 iscoupled to the first housing portion 2254.

Various gaskets may have different compressibility properties. Forexample, gasket 2230 may compress more than gaskets 2210, and 2220.Further, the gasket 2210 may be easier to install along an edge than thegaskets 2220, 2230. The gasket may be made from a compressible, flexiblematerial, such as rubber or foam, for example, the gasket may be madefrom EPDM rubber. The gaskets may generally take the shape of a capital“D”. The gasket used may be preferably compress between 25% and 40% fromits original size for optimal sealing. Accordingly, the gasket may besized according to the tensile force coupling together the housingportions.

Ridge Cap

To cover the gap between two housing portions of a modular home (e.g.,the housing portions 120, 160 of modular home 101), a ridge cap may beinstalled on one of the two housing portions. For example, referring nowto FIG. 23 , a modular home 2300, similar to modular home 101, is shownwith a ridge cap 2301 coupled to a first housing portion 2320, accordingto some embodiments. The first housing portion 2320 may include a firstliving area and a first wall surrounded by a first frame. A secondhousing portion 2360 may include a second living area at a second wallsurrounded by a second frame. The ridge cap 2301 may be coupled to thefirst housing portion 2320 above the first frame and may be configuredto allow the second frame to slide (e.g., automatically slide withouthuman intervention) under the ridge cap 2301 such that the ridge cap2301 can be positioned above the seam between the first and secondhousing portions 2320, 2360 when the first frame is coupled to thesecond frame. The ridge cap 2301 may prevent rainwater from getting intothe living areas through the seam between the first and second frames.In some embodiments, the ridge cap 2301 may also help ventilate a BIPV(Building Integrated Photovaltaics) roof of the modular home 2300.

Fold-Down Deck

In some embodiments, a modular home configured as described herein mayinclude a fold-down deck. To help facilitate travel (e.g., ensure thetrailer transporting the modular home does not exceed any width limitswith the modular home), the fold-down deck may be coupled to the endstructure of one of the housing portions. The fold-down deck may becoupled with a hinge that is attached to the end structure. Duringtravel, the fold-down deck may be folded to be flesh against the modularhome. Upon reaching a final destination, the fold-down deck may rotateaway from the modular home and rest on legs that fold out to support thefold-down deck when the fold-down deck is horizontal.

Referring now to FIGS. 24A and 24B, a perspective view and a plan viewof a fold-down deck 2400 are respectively shown, according to someembodiments. The deck 2400 may be coupled to a housing portion of amodular home (e.g., to housing portion 120 or 160 of modular home 101)by a hinge 2402. When the housing module 101 is being transported, thedeck 2400 may be folded up flat against a wall 2404 of the housingportion into a stowed position to reduce the footprint of the housingportion. The deck 2400 may include one or more legs 2406 each coupled toa frame of the deck 2400 by a hinge. When the housing portion 120, 160is being transported, the deck legs 2406 may be folded down into astowed position against the frame 2408 of the stowed deck 2400, toreduce the footprint of the housing portion 120, 160. When the housingportion 120, 160 is in position at the installation site, the deck 2400may rotate about the hinge 2402 into an extended position, and the legs2406 may be rotated down to a deployed position. When the deck 2400 isin the extended position, and the legs 2406 are in the deployedposition, the legs 2406 may support the deck 2400. A user may exit aliving area 2410 of the housing portion, for example via a door, andwalk onto the deck 2400. FIG. 24C shows a detailed view of a leg 2406,according to some embodiments. The height of the legs 2406 may beadjustable based on the height of the deck 2400 above the installationsite surface. For example, if the modular home is positioned on unevenground, a first leg 2406 may be extended to a different length than asecond leg 2406 such that the deck 2400 remains level. FIG. 25D showsthe hinge 2402 that couples the deck 2400 to the housing portion 120 infurther detail, according to some embodiments.

Entryway Assembly

In some embodiments, a modular home configured as described herein mayinclude fold-down stairs. The fold-down stairs may be hingedly coupledto a fold-down deck as described above. The fold-down stairs may fold upto be flesh against the fold-down deck during transportation of themodular home. The fold-down stairs may then fold down to rest againstthe ground after folding out from the fold-down desk. The fold-downstairs may be used for easier access to the modular home when themodular home is constructed at its final destination.

Referring now to FIG. 25A-25D, an entryway assembly 2500 coupled to ahousing portion of a modular home (e.g., housing portion 120 of modularhome 101) is shown, according to some embodiments. The entryway assembly2500 may include a deck 2502 and a stair assembly 2504 hingedly coupledto the deck 2502 (e.g., by pins 2564). The deck 2502 may be hingedlycoupled to the housing portion 120 (e.g., by hinges 2562) and may beconfigured to rotate between an extended position and a stowed position,similar to the deck 2400. The deck 2502 may include one or more legs2532 hingedly coupled to the deck frame 2534 and configured to rotatebetween a stowed position and a deployed position and to support thedeck 2502 when in the deployed position, similar to the legs 2406 of thedeck 2400. The stair assembly 2504 may include at least two stair treads2536 and a stringer assembly 2540 on each end of the treads 2636. Thestringer assembly 2540 may include a first stringer member 2542rotatably pinned to each stair tread 2536 (e.g., by pins 2548). Thefirst stringer member 2542 may be coupled to a foot 2544 that rests onthe installation site surface when the stair assembly 2504 is deployed.The stringer assembly 2540 may include a second stringer member 2546rotatably pinned to each stair tread (e.g., by pins 2548). The firststringer member 2542, the second stringer member 2546, and the stairtreads 2536 may form a four-bar linkage configured to transition betweena first position 2552 and a second position 2554. In the first position2552, the second member 2546 contacts and rests on the first member 2542with the stair treads 2536 in a substantially level orientation. Thefirst position 2552 may also be referred to as a deployed position, inwhich a user may be able to walk up the stair assembly 2504 on the stairtreads 2536. In the second position 2554, the second member 2546 may berotated upward about the pins 2648 between the first and second members2542, 2546 and the treads 2536 until the second member 2546 againcontacts the first member 2542. The second position 2554 may also bereferred to as a stowed position, in which the stair treads 2536 areangled upward to minimize the profile of the stair assembly 2504. Thestair assembly 2504 may be hingedly coupled to the deck 2502 and can berotated into a stowed position against a wall of the housing portion 120when the deck assembly 2502 is in the stowed position to minimize theprofile of the housing portion 120 when the modular home 101 is beingtransported. Thus, during transportation, the entire entryway assembly2500 may be rotated about the hinge that couples the deck 2502 to thehousing portion 120 until the deck 2502 is positioned against a wall ofthe housing portion 120. The legs 2532 of the deck 2502 may be foldedinto the deck frame 2534, the second stringer member 2546 of the stairassembly 2504 may be moved into the second position 2554 to minimize theprofile of the stair assembly 2504, and the entire stair assembly 2504may be rotated about the pins 2564 that couple the stair assembly 2504to the deck 2502 until the stair assembly 2504 is positioned against thewall of the housing portion 120. Thus, the entire entryway assembly 2500may be folded against the wall of the housing portion 120, adding onlyabout the thickness of the deck frame 2534 to the width of the housingportion 120 during transportation of the modular home 101.

Ramp Assembly

In some embodiments, a modular home configured as described herein mayinclude a fold-down ramp. The fold-down ramp may be hingedly coupled toa fold-down deck as described above. The fold-down ramp may fold up tobe flesh against the fold-down deck during transportation of the modularhome. The fold-down ramp may then fold down to rest against the groundafter folding out from the fold-down desk. The fold-down ramp may beused for easier access to the modular home when the modular home isconstructed at its final destination.

Referring now to FIG. 26 , a ramp assembly 2600 is shown coupled to ahousing portion of a modular home (e.g., housing portion 120 of modularhome 101), according to some embodiments. The ramp assembly 2600 mayinclude a landing 2602 that is hingedly coupled (e.g., by hinges 2604)to a structural frame of the modular home 101. The ramp assembly 2600may be configured to rotate between a stowed position and an extendedposition in a manner similar to that of the deck 2400 and the deck 2502.The landing 2602 may include legs 2606 hingedly coupled to a frame ofthe landing 2602 and configured to fold up similar to the legs 2406,2532 of the deck 2400 and the deck 2502. The ramp assembly 2600 may alsoinclude a ramp 2608 that is hingedly coupled (e.g., by hinges 2610) tothe landing 2602. The ramp 2608 may be configured to transition from astowed position to a deployed position (shown). In the deployedposition, the ramp 2608 may be angled downward and may rest on theinstallation site surface to allow a user to walk up the ramp 2608 intothe housing portion 120. In the stowed position, the ramp 2808 may beflush with the landing 2602 and may be folded up against a wall of thehousing portion 120 along with the landing 2602. The landing 2602 andthe ramp 2608 may be folded against the wall of the housing portion 120to minimize the footprint of the modular home 101 during transportationof the modular home 101.

Modular Home Rotation

After transporting a modular home to a building site in two portions ona trailer bed in a position in which the portions of the modular homeare positioned longitudinally on the trailer bed, the two portions maybe rotated on the trailer bed to form a modular home. To rotate the twoportions on the trailer, a rotation assembly coupled to the trailer bedmay be used. In some cases, the rotation assembly may include thetrailer bed itself. In some embodiments, the rotation assembly mayinclude a number (e.g., four) of outrigger supports installed along thetrailer bed, one or more slot opening in the middle of the trailer bedconfigured to receive a number (e.g., two) of trailer pins on the bottomof the portions, a telescopic winch attached on a side (e.g., a bottomleft side) of the trailer bed, a number (e.g., two) of winches installedon the front and rear of the trailer bed, and a crawler storage device.To fold two portions of a modular home on the trailer bed, the outriggersupports may retract outward, thus providing stabilization duringun-hauling activities. The telescopic side winch may also be attached toa hinge coupling the two portions of the modular home together andretracted. The two trailer pins may move in slots on the trailer bed toguide two portions to be closed. The rear winch may pull the combinedunit to the rear of the trailer for offloading (e.g., offloading usingcrawlers from the crawler storage device on the trailer bed, asdescribed herein). In this way, the modular home may be automaticallyremoved from the trailer bed without the use of a crane.

Referring now to FIG. 27 , a modular home 2700 is shown being rotated onthe bed of a trailer, according to some embodiments. The bed of thetrailer may include a plurality of ball transfer units that reduce thefriction between the bed and the modular home 2700 to allow the modularhome to rotate and slide across the bed. The trailer may include a boom2701 (e.g., a jib) configured to extend away from the bed. The boom 2701may include a pulley 2702 at the distal end of the boom 2701. Thetrailer may include a winch configured to pull and coil a rope 2703. Thewinch, boom and pulley may be referred to as a winch assembly. The rope2703 may be fed through the pulley 2702 and coupled to the modular home2700. When the winch coils the rope 2703, the modular home may be pulledin the direction of the pulley 2702. The rope 2703 may be coupled to thehinge of the modular home 2700 or to one of the housing units of themodular home 2700. In some embodiments, a winch may itself be coupled tothe distal end of the boom and a pulley may not be required.

In some embodiments, the boom 2701 may extend telescopically from astowed position to an extended away from the bed. In the stowedposition, distal members of the boom may telescope into larger, moreproximal members of the boom, such that the boom collapses into asmaller footprint that can fit below the bed of the trailer withoutsticking out from either side of the trailer. When the boom is needed,the smaller members can extend out form the larger members such that theboom extends out from the side of the trailer. The boom may be arrangedperpendicular to the longitudinal direction of the trailer. The boom maybe positioned at the midpoint of the trailer bed (e.g., between thefront and the rear of the bed), such that the boom is aligned with ahinge coupling two housing portions arranged longitudinally on the bed.The boom may extend a length from the centerline of the slot that islonger than half the length of the housing portion. For example, if thehousing portion is 30 feet long, the boom may extend such that thepulley is more than 15 feet from the centerline of the slot. This mayensure that the winch assembly can rotate the housing portions ninetydegrees without the housing portions contacting the pulley. The rope maybe coupled to the hinge or to an area of the housing portion near thehinge such that the pulley continues to pull the rope in the directionof rotation until the housing portions rotate ninety degrees. Forexample, one of the leaves of the hinge may include an eyebolt or hoistring to which a hook at the end of the rope can be coupled. In someembodiments, the roper may be coupleable to a vertical edge of one ofthe housing portions near the hinge. In some embodiments, the boom maybe configured to electromechanically retract or extend based upon a userinput or preprogrammed instructions.

In some embodiments, the boom 2701 may be hingedly coupled to the bedand may rotate from a stowed position parallel to the bed to an extendedposition perpendicular to the bed. For example, the boom may berotatably coupled to a vertical pin near the edge of the bed. In thestowed position, the boom may be rotated such that it is positionedagainst the edge of the bed and increases the width of the trailer onlyby the width of the boom. The distal end of the boom may be removablycoupled to the bed to hold the boom in place in the stowed position. Forexample, the boom may snap into a holding bracket or other retainingfeature when moved into the stowed position, and a user may disengagethe bracket or retaining feature to rotate the boom into the extendedposition. In some embodiments, the boom may be configured toelectromechanically retract or extend based upon a user input. In someembodiments, the boom may be configured to electromechanically rotatebased upon a user input or preprogrammed instructions. The boom mayinclude a support member to hold the boom in place in the extendedposition. For example, the support member in FIG. 29 may be rotatablycoupled at its proximal end to another vertical pin positioned along theedge of the trailer bed. The distal end of the support member may becoupled to the boom. The support member may be a linear actuator (e.g.,an electromechanical actuator). The linear actuator may extend to rotatethe boom into the stowed position and may retract to rotate the boominto the extended position. In some embodiments, the boom may be atelescoping extendable boom that also rotates and may be supported bythe support member. The support member may be connected to the largest,most proximal member of the boom.

The trailer may include a slot 2710 in which rotation pins areconfigured to slide or roll. A first housing portion may be coupled to afirst rotation pin and a second housing portion may be coupled to asecond rotation pin. When the rope 2703 pulls the modular home, thehousing portions may rotate about the rotation pins, and the rotationpins may slide along the slot 2710 toward each other. In someembodiments, there may be a separate slot for each rotation pin. In someembodiments, the rotation pin may not be positioned in a slot and maynot be configured to slide along the bed of the trailer. A modular homethat does not include a hinge, for example, a modular home with a singlehousing portion, may be rotatably coupled to the rotation pin. The ropecoupled to the winch may be attached to the housing portion and thehousing portion may be rotated without the pin having to slide along aslot. This method may be used for other types of loads positioned on thebed of a trailer, such as shipping containers.

In some embodiments, similar methods may be used to rotate and unload aload having only a single portion and no hinge from a trailer. The loadmay be, for example, a shipping container or a modular home having asingle housing portion. Referring now to FIG. 27B, a sequence 2740 forunloading a single-portion load from a trailer is provided, according tosome embodiments. The load 2752 is first positioned on the trailer 2754in a conventional shipping position. Similar to the trailers describedabove, the trailer 2754 has a bed with an upper surface that includes aplurality of ball transfer units and/or a low friction material, suchthat the load 2752 can rotate and slide on the bed. The load 2752 iscoupled to a rotation pin (e.g., via a pin socket positioned on theunderside of the load 2752) that extends above the upper surface of thebed similar to the rotation pins described herein. In some embodiments,the rotation pin may be positioned in a static position in the bed(e.g., in the center of the bed), and not in a slot. The trailer 2754may include a winch assembly 2755 with a winch and a boom 2756 asdescribed above. At operation 2750, the boom 2756 is extended away fromthe side of the trailer 2754. A rope 2758 coupled to the winch may berun through a pulley 2762 and coupled to a corner of the load 2752. Atoperation 2760, the winch may then pull the rope 2758 through the pulley2762 to rotate the load 2752 about the rotation pin. The load 2752 maybe rotated about 90 degrees such that it is perpendicular to the trailer2754 forming an overhanging portion on each side of the trailer 2754.Next, the load 2752 can be lifted by the overhanging portions. Forexample, a plurality of crawlers can move under the overhanging portionsand lift the load 2752 off of the trailer 2754 and carry the load 2752to another location. Alternatively, linear actuators coupled to theoverhanging portions of the load 2752 can extend downward from the load2752 and lift the load off of the trailer 2754, which can then be drivenout from underneath the load 2752. Like the trailers described above,the trailer 2754 may include outriggers coupled to the trailer bed thatsupport and stabilize the bed when the load 2752 is rotated.

In some embodiments, the unloading process may be reversed to load theload 2752 on to the trailer 2754. For example, if the load 2752 includeslinear actuators, the linear actuators may lift the load 2752 off of theground. The trailer 2754 may then be backed under the load 2752 betweenthe linear actuators and perpendicular to the load 2752. The linearactuators may then lower the load 2752 onto the trailer such that a pinsocket surrounds the rotation pin. The winch assembly 2755 may then beused to rotate the load 2752 ninety degrees into the conventionalshipping orientation. For example, the rope 2758 may be coupled to acorner of the load 2752 on the opposite side of the trailer 2754. Insome embodiments, the trailer may include a front winch (e.g., frontwinch 3032 shown in FIG. 30 ) coupled to the front end of the trailerbed. The front winch 3032 can be used to rotate the load 2752 from theloading position (e.g. in which the load is perpendicular to the trailerbed) to the shipping position. In some embodiments, the trailer mayinclude a rear winch coupled to the aft end of the trailer bed. Thefront winch 3032 can be used to rotate the load 2752 from the loadingposition to the shipping position. In some embodiments, the trailer 2754may include a slot as described above, in which the rotation pin cantranslate along the bed. The front and rear winches can be used to pullthe load toward the front or rear of the trailer bed, respectively. Insome embodiments, the trailers described above (e.g., that areconfigured to rotate a two-portion modular home in which the housingportions are coupled by a hinge) may be used to rotate a single-portionload (e.g., load 2752).

FIGS. 28A and 28B show rotation pins 2800, 2802, according to someembodiments. As shown in FIG. 28A, the rotation pin may be configured toroll along the slot on a plurality of wheels coupled to a base portion.The slot may include an upper flange at each side of the slot to preventthe rotation pin 2800 from being lifted out of the slot. The rotationpin 2800 may include a cylindrical (e.g., pin) portion extending fromthe base (e.g., roller) portion. The roller portion may include severalwheels or rollers arranged about a horizontal axis of rotation. Forexample, as shown in FIG. 28B, there may be two rollers on each sidearranged to allow the rotation pin 2802 to roll along a slot. Therollers may extend both above and below a lower frame or plate, so thatif there are any upward forces on the pin 2802, the rollers will contactthe flanges of the slot, and the frame will not contact the flanges. Insome embodiments, the roller portion may include one or more hooks thatallow the pin to be pulled along a slot, for example, by a rope coupledto a winch. There may be hooks on each side of the frame so that the pin2802 can be pulled in either direction along the slot. The rollerportion may also include rollers with vertical axes of rotation arrangedon the sides of the frame. These rollers may contact the side of theslot to prevent the frame form contacting the side of the slot in orderto reduce friction caused by any side loading, for example, when thehousing portions are being rotated. When a housing portion is loadedonto the bed of the trailer, a pin hole (e.g., a pin socket) coupled toa floor assembly of the housing portion may be located onto the pin 2800such that the housing portion may be able to rotate about the pin 2800.In some embodiments, as shown by the rotation pin 2802, a bearing may bearranged around the cylindrical portion to reduce the rotationalfriction between the housing portion and the rotation pin 2802. In someembodiments, the bearing may have a larger diameter than the width ofthe slot and may be positioned above the slot. For example, the rotationpin may be inserted into the slot with the pin portion of the rotationpin extending through the slot, and the bearing may be pressed on to thepin portion above the surface of the trailer bed. The pin portion mayinclude a shoulder to prevent the bearing from being pushed so far sownthe pin portion as to contact the trailer bed. The bearing may beencased in an additional covering to further protect the bearing. Asdiscussed above, in some embodiments, the pin portion of the rotationpin (e.g., rotation pin 2800) is a solid cylinder. The pin socket of thehousing portion may function as a plane bearing around the rotation pin.In some embodiments, the housing portion Amy have a ball bearing orroller bearing in the pin socket to reduce the rotational frictionbetween the rotation pin and the housing portion.

FIG. 29 shows plan views of a sequence 2900 for rotating the housingportions of the modular home using a boom is shown, according to someembodiments. The sequence 2900 may include any number of operations andthe operations may be performed in any order. In a first operation 2902of the sequence 2900, housing portions (e.g., housing portions 120, 160)are arranged longitudinally on the bed of the trailer (e.g., the bed 404of the trailer 30) and the boom (e.g., the boom 408 of winch assembly409) is extended from the side of the trailer 30. In a second operation2904, a winch (e.g., winch 414) may coil a rope, which may be pulledthrough a pulley (e.g., pulley 412) at the end of the boom 408, thusrotating the housing portions 120, 160 about the rotation pins andcausing the rotation pins 2802 to move along the slot toward each other.FIG. 30 shows a perspective view of a modular home 3000 with its housingportions being rotated on the bed of a trailer using a boom and winch asdescribed above. FIGS. 31A-31C show a plan view 3100, an end view 3102,and side view 3104 of the rotation pin in the slot.

In some embodiments, the rotation assembly may include a series ofpulleys and winches within a trailer bed. In the rotation assembly, awinch may be mounted below the trailer deck. Two pulleys may be placedat each end of the trailer bed. Cables connected to the winch may noosearound the pulleys and connect to trailer pins embedded in the trailerbed. As the winch motor moves in the forward direction, the two pinswill move together. Running the winch motor in reverse may cause the twopins to separate the pins. A separated modular home positioned on top ofthe pins may fold into a whole modular home as the pins move.

Referring now to FIG. 32 , a method 3200 of rotating a load on a trailer(e.g., load 2752 on trailer 2754) is described, according to someembodiments. In some embodiments, the load 2752 may be a modular home,for example, a modular home including a single or two housing portions.The method 3200 may include any number of operations and the operationsmay be performed in any order. The method 3200 may be performed byequipment of a modular home construction company (e.g., the componentsof system 4500, shown and described with reference to FIG. 45 ). Atoperation 3202 of the method 3200, a load is positioned on a trailer2754. The trailer 2754 may include a plurality of ball transfer units ona bed of the trailer. The plurality of ball transfer units may beconfigured to support the load. The trailer 2754 may include a rotationpin coupled to the bed of the trailer. Positioning the load 2752 on thetrailer 2754 may include rotatably coupling the load to the rotationpin. The trailer 2754 may also include an extendable winch assembly(e.g., winch assembly 2755) coupled to the bed of the trailer 2754. Atoperation 3204 of the method 3200, the extendable winch assembly 2755 isextended away from the trailer bed. In some embodiments, the winchitself may be extended from the bed of the trailer 2754 at a distal endof a boom 2756. In some embodiments, the boom 2756 may include a pulley2762 at the distal end of the boom 2756, and the winch may be positionedon the trailer 2754. At operation 3206 of the method 3200, a rope 2758coupled to the winch is coupled to the load 2752. When the winch ispositioned on the trailer 2754, the rope 2758 may be fed through thepulley 2762 before being attached to the load 2752. At operation 3208 ofthe method 3200, the rope 2758 is pulled with the winch toward thedistal end of the boom 2756 to rotate the load 2752 about the rotationpin.

Referring now to FIG. 33 , a method 3300 of assembling a modular home isdescribed, according to some embodiments. The method 3300 may includeany number of operations and the operations may be performed in anyorder. The method 3300 may be performed by equipment of a modular homeconstruction company (e.g., the components of system 4500, shown anddescribed with reference to FIG. 45 ). At operation 3302 of the method3300, a modular home (e.g., modular home 101) is positioned on a trailerbed (e.g., bed 404 of trailer 30). The modular home may include a firsthousing portion (e.g., housing portion 120) coupled to a second housingportion (e.g., housing portion 160) by a hinge (e.g., hinge 199). Thetrailer 30 may include a plurality of ball transfer units on a bed 404of the trailer 30. The plurality of ball transfer units may beconfigured to support the modular home 101. The trailer 30 may include afirst rotation pin slidably 510 coupled to a slot in the bed 404 of thetrailer 30 and a second rotation pin 512 slidably coupled to a slot 514in the bed of the trailer 30. In some embodiments, the first and secondrotation pins 510, 512 may be slidably coupled to the same slot 514. Thefirst housing portion 120 may be rotatably coupled to the first rotationpin 510, and the second housing portion 160 may be rotatably coupled tothe second rotation pin 512. The trailer 30 may include an extendablewinch assembly 409 coupled to the bed 404 of the trailer 30. Atoperation 3304 of the method 3300, the extendable winch assembly 409 isextended away from the trailer bed 404. In some embodiments, the winch414 itself may be extended from the bed 404 of the trailer 20 at adistal end of a boom 408. In some embodiments, the boom 408 may includea pulley 412 at the distal end of the boom 408, and the winch 414 may bepositioned on the trailer 30. At operation 3306 of the method 3300, arope 410 coupled to the winch 414 is coupled to the modular home 101.When the winch 414 is positioned on the trailer 30, the rope 410 may befed through the pulley 412 before being attached to the modular home101. At operation 3308 of the method 3300, the rope 410 is pulled by thewinch 414 toward the distal end of the boom 408 to rotate the first andsecond housing portions 120, 160 about their respective rotation pins510, 512. The pulling of the rope 410 may cause the rotation pins 510,512 to slide toward each other along the slot 514 as the housingportions 120, 160 rotate.

Referring now to FIG. 34 , a trailer 3400 is shown, according to someembodiments. The trailer 3400 may not include a boom that extends fromthe side of the trailer and is used to rotate the housing portions of amodular home (e.g., housing portions 120, 160 of modular home 101).Instead, the trailer 3400 may include a winch 3408 positioned below aslot 3406 (e.g., a channel). The winch 3408 may be coupled to first andsecond ropes 3410, 3412 that are respectively coupled to two rotationpins 3414, 3416. The rotation pins 3414, 3416 may be configured to rollor slide along the slot 3406. When the winch 3408 is rotated in a firstdirection, the first and second ropes 3410, 3412 may coil around thewinch 3408 and pull the rotation pins 3414, 3416 towards each other andthe center of the trailer. As the rotation pins 3414, 3416 move towardeach other, the housing portions of the modular home may rotate aboutthe rotation pins 3414, 3416 and a hinge (e.g., hinge 199) that couplesthe first housing portion 120 to the second housing portion 160. Thetrailer 3400 may also include two pulleys 3402, 3404, positioned in theslot 3406. A third rope 3418 and a fourth rope 3420, may be respectivelycoupled to the rotation pins 3414, 3416 and fed respectively through thepulleys 3402, 3404. When the winch 3408 is rotated in a second directionopposite the first direction, the third and fourth ropes 3418, 3420 maybe pulled through the pulleys 3402, 3404, pulling the rotation pins3414, 3416 apart to rotate the housing portions in the oppositedirection. This may allow the modular home 101 to be positioned on thedeck of the trailer with the housing portions in a side-by-sideorientation. The housing portions 120, 160 may then be rotated into alongitudinal arrangement for shipping (e.g., end-to-end) using the winch3408 and the pulleys 3402, 3404. Thus, the winch 3408 may be configuredto pull the rotation pins 3414, 3416 along the slot 3406 in a firstdirection (e.g., towards the center of the trailer 3400), and thepulleys 3402, 3404 may be configured to cooperate with the winch 3408 topull the rotation pins 3414, 3416 along the slot 3406 in a seconddirection (e.g., away from the center). FIG. 35 shows a first plan view3502 of the winch 3408 coiling a first set of ropes to pull the rotationpins 3414, 3416 towards the center of the trailer 3400, and a secondplan view 3504 of the winch 3408 coiling a second set of ropes that havebeen fed through pulleys 3402, 3404 at either end of the trailer 3400 topull the rotation pins 3414, 3416 towards either end of the trailer3400.

Trailer Roller Deck

To help enable the rotation of the housing portions of the modular homeon a trailer bed, the trailer bed may be configured to minimize thefriction that is imposed on the skid plate on the bottom of the portionsof the modular home. Typical trailer decks may have a steel or woodsurface that can cause a significant amount of friction. The frictionmay require lifting items on the surface to move or remove the itemsbecause it is not feasible or is otherwise difficult to slide any itemson the surface. To overcome this friction and enable rotation ofportions of a modular home on a trailer bed, in some embodiments, atrailer bed may be outfitted with a custom modular roller deck. Themodular roller deck may be equal in dimension and bolted to the trailerbed. Ball bearings (e.g., ball transfer units) may be embedded in theroller deck in an even grid pattern, thus distributing the weight of aload rolling on the ball bearings. The roller deck may contain ballbearings that help the portions of the modular home rotate freely on theroller bed, in some cases in conjunction with one or more trailer pinscoupled to the portions of the modular home.

For example, referring now to FIG. 36 , a trailer 3600 is shown,according to some embodiments. The trailer 3600 may include a deck 3602and a plurality of ball transfer units 3604. The ball transfer units3604 may be positioned on the deck 3602 and configured to support a loadand to allow the load to move across the deck 3602. The ball transferunits 3604 may reduce the friction between the deck 3602 and the load,so that the load can be translated and/or rotated on the deck 3602. Forexample, a modular home (e.g., modular home 101) may be rotated ortranslated along the deck 3602. A ball transfer unit 3604 may include aload-bearing spherical ball mounted inside a restraining housing. Theball may rotate to allow a load to pass over the ball transfer unit 3604with minimal friction. The housing of the ball transfer unit 3604 mayinclude a cylindrical base configured to be inserted in a hole in asurface and may include a flange positioned around the base configuredto rest on the edge of the hole such that the ball may be positioned ata predetermined height above the surface. The trailer 3600 may includean array of ball transfer units 3604 that cooperate to support a largeload, such as a modular home 101. In some embodiments, the bed mayinclude a low friction surface instead of, or in addition to the balltransfer units 3604. For example, the upper surface of the bed may bemade from a low friction material, such as a hard plastic material likenylon. In some embodiments, a “low friction” material may be materialwith a lower coefficient of friction when contacting aluminum than thecoefficient of friction when steel, aluminum, or wood contacts aluminum.For example, aluminum positioned on an aluminum deck may have acoefficient of static friction of about 0.70, and aluminum positioned onwood may have a coefficient of static friction of about 0.30. A materialthat has a coefficient of static friction when contacting aluminum ofless than 0.30, or less than 0.20 may be referred to as a “low frictionmaterial.” Aluminum positioned on a nylon deck, for example, may have acoefficient of static friction of about 0.10. Therefore, nylon may beconsidered a low-friction material. As the skid plates (e.g., skidplates 1405, 1504) of the housing portions 120, 160 may be made fromaluminum, the low friction materials allow the housing portions 120, 160to be rotated on the trailer bed 404 with less force than on atraditional trailer bed that may be made from steel, aluminum, or wood.This reduces the power required from the winch to rotate the housingportions 120, 160 and reduces stress on the housing portions 120, 160themselves when they are rotated.

Referring now to FIGS. 37A-37C, a top view 3700, a perspective view3702, and a side view 3704 of a panel assembly 3710 including aplurality ball transfer units 3712 are shown, according to someembodiments. The panel assembly 3710 may include a mounting bracket 3714on each side and a deck plate 3716 coupled to the mounting bracket. Theplurality of ball transfer units 3712 may be positioned on the deckplate 3716 and configured to support a load and to allow the load tomove across the panel assembly 3710. The deck or bed of a trailer may bemade up of a plurality of these panel assemblies 3710. For example, aplurality of the panel assemblies 3710 can be coupled to the deck of atraditional trailer by fastening the mounting brackets 3714 to the bedof the trailer, thus converting the traditional trailer to a trailerhaving a plurality of ball transfer units 3712 configured to support aload and allow load to rotate and translate across the trailer.

Robotic Crawlers

After two portions of a modular home have completed rotation on atrailer bed, robotic crawlers may be used to transport the modular hometo a defined destination away from the trailer bed. For example, roboticcrawlers may be stored in a crawler storage device or container on thetrailer that transported the modular home to the modular home's currentlocation. Upon completion of rotation of two portions of the modularhome into a single modular home on the trailer bed of the trailer, acontroller (e.g., a controller stored or positioned on the trailerand/or operated by a human) may transmit instructions to the crawlers(e.g., 12 crawlers) to drive out of the crawler storage device orcontainer and underneath portions of the modular home that extrude awayfrom the trailer bed. Processors on the crawlers may receive theinstructions and operate according to the instructions, positioningthemselves in an evenly spaced pattern underneath the modular home. Thecontroller may then transmit or send signals to mechanical legs (e.g.,linear actuators) within wall and/or floor of the modular home to causethe mechanical legs to extend onto the crawlers. The controller may thenlift the mechanical legs up one by one to enable the crawlers to driveaway (e.g., back into the crawler storage device or container) andsubsequently extend the mechanical legs to rest on the ground.Accordingly, the robotic crawlers may automatically facilitate the finaltransportation operation of removing a modular home from a trailer bedand to the home's final destination. Through this control, thecontroller may cause the mechanical legs to lift the modular home off ofthe trailer bed and then cause the crawlers to transport the liftedmodular home to a final destination.

As described herein, crawlers may be portable in size and build withrobust/heavy duty design. The crawlers may have crawler wheels on theside for traveling in different ground terrains and a flat top decksurface for integrating the legs of the housing portions for locking andsecuring.

Referring now to FIG. 38 , a system 3800 for transporting a load 3810using a plurality of crawlers 3802 (e.g., similar to the crawlers 190)is shown, according to some embodiments. The system 3800 may include aplurality of linear actuators 3801. Each linear actuator 3801 mayinclude a housing 3804 configured to be coupled to a load 3810 and a rod3806 that extends from the housing and may be configured to support theload 3810. The system 3800 may include a plurality of crawlers 3802 eachconfigured to receive a respective rod 3806 of the linear actuator 3801and to move the load 3810 along a surface 3808. The system may include acontroller configured to adjust the extension of each rod 3806 such thatthe load 3810 remains substantially level as a plurality of crawlers3802 move along the surface 3808. The load 3810 may be, for example, amodular home (e.g., modular home 101) or a container. The load 3810 maybe positioned on the bed of a trailer and rotated such that each end ofthe load overhangs the edges of the trailer. The linear actuators 3801may be coupled to the load 3810 and may actuate to extend the rod 3806down to the crawlers 3802 positioned on the ground underneath theoverhanging ends of the load 3810. The rods may engage the crawlers 3802and lift the load 3810 off of the trailer such that the load 3810 isfully supported by the crawlers 3802. The crawlers 3802 may thencooperate to move the load 3810 away from the trailer to a secondlocation.

The crawlers 3802 may travel across a surface that may not be even orlevel (e.g., surface 3808). The controller may receive data from one ormore sensors indicating the elevation of each crawler 3802 relative tothe other crawlers 3802. The controller may then control the extensionof each rod 3806 such that the load 3810 remains level. For example, ifa first crawler 3802 is on a portion of the surface 3808 that is higherthan the rest of the surface 3808, the actuator 3801 coupled to thefirst crawler 3802 may retract its rod 3806 such that the load 3810remains level. If a second crawler 3802 is on a portion of the surface3808 that is lower than the rest of the surface 3808, the actuator 3801coupled to the second crawler 3802 may extend its rod 3806 such that theload 3810 remains level. Each actuator 3801 may extend or retract itsrod 3806 to varying degrees as necessary to keep the load 3810 level.

Referring now to FIG. 39 , a method 3900 of controlling a plurality oflinear actuators (e.g., linear actuators 3801 is described, according tosome embodiments. The method 3900 may include any number of operationsand the operations may be performed in any order. The method 3900 may beperformed by equipment of a modular home construction company (e.g., thecomponents of system 4500, shown and described with reference to FIG. 45). At operation 3902 of the method 3900, a load (e.g., the load 3810) ispositioned on a trailer bed. The load 3810 may be, for example, amodular home or a shipping container. The load 3810 may include aplurality of linear actuators 3801 each comprising a rod 3806 configuredto extend to and engage a respective crawler 3802 to cooperativelysupport a load 3810. At operation 3904 of the method 3900, instructionsare sent to the crawlers 3802. A controller may transmit theinstructions to the crawlers 3802. The instructions may cause thecrawlers 3802 to move along a surface to cooperatively move the load3810. At operation 3906 of the method 3900, an elevation of a firstcrawler 3802 relative to the other crawlers 3802 is determined. Theelevation of the first crawler 3802 relative to the other crawlers 3802may be determined using data from sensors. For example, optical sensors,pressure sensors, or ultrasonic distance sensors may be used todetermine the relative elevation of the crawlers. At operation 3908 ofthe method 3900, the extension of an actuator 3801 associated with thefirst crawler 3802 may be adjusted, based on the determined elevation ofthe first crawler 3802 relative to the other crawlers 3802, such thatthe load 3810 remains level. As described above, an actuator 3801 mayretract when its associated crawler 3802 is relatively higher than theother crawlers 3802, and an actuator 3801 may extend when its associatedcrawler 3802 is relatively lower than the other crawlers 3802. Eachactuator 3801 may be controlled simultaneously according to the method3900 such that the entire load 3810 remained level as the crawlers 3802move across an uneven or non-level surface 3808.

In some embodiments, instead of extending mechanical legs (e.g., therods 3806) from the modular home to transport the modular home, crawlerswith an automatic leveling deck may be used to transport the modularhome. For example, a number of crawlers (e.g., four crawlers) may eachbe fitted with a leveling deck that extends from the bases of thecrawlers. The crawlers may be controlled to move in unison to gounderneath a modular home on a trailer bed. The crawlers may then extendtheir respective leveling decks towards the modular home to lift themodular home off of the trailer bed. The crawlers may then transport themodular home to its final site location, as the leveling decks raiseand/or lower to maintain a constant level of the modular home.

Referring now to FIG. 40A, a system 4000 for transporting a load using aplurality of crawlers is shown, according to some embodiments. Thesystem 4000 may include a plurality of crawlers 4002 configured tosupport a load and move the load across a surface, similar to thecrawlers 3802. The crawlers 4002 may each include a self-leveling lift4001. The self-leveling lift 4001 may raise and lower the load 4004. Theheight of each self-leveling lift 4001 of each crawler 4002 may beadjusted based on the elevation of the respective crawler relative tothe other crawlers. For example, if a first crawler 4002 is on a portionof a surface 4006 that is higher than the rest of the surface, theself-leveling lift 4001 coupled to the first crawler 4002 may lower,such that the load 4004 remains level. If a second crawler 4002 is on aportion of the surface 4006 that is lower than the rest of the surface4006, the self-leveling lift 4001 coupled to the second crawler 4002 mayrise, such that the load 4004 remains level. Thus, the self-levelinglifts 4001 cooperatively keep the entire load 4004 level, similar to thelinear actuators 3801 in the system 3800.

The angle of the support surface 4012 of the self-leveling lift 4001 maybe adjustable relative to the crawler base 4014 (e.g., the crawlerbody), such that the support surface 4012 may remain level even when thecrawler 4002 is on a non-level surface 4006. The self-leveling lift 4001may include a plurality of actuators configured to adjust the angle andsupport surface 4012. For example, when a crawler 4002 is moving forwarddown a sloped surface, a forward end of the support surface 4012 may beraised by an actuator and/or an aft end of the support surface 4012 maybe lowered by another actuator, thus maintaining a level support surface4012 even when the crawler 4002 is moving up or down an angled surface.

In some embodiments, the self-leveling lifts 4001 of the crawlers 4002may operate according to sensor data on the lifts or on the crawlers4002 themselves. Sensors coupled to the crawler bases 4014 and/or thesupport surfaces 4012 may detect the levels of the crawler bases 4014and/or the levels of the support surface 4012. The sensors may transmitthe detected levels to processors on the crawlers 4002 and/or to thecontroller controlling the crawlers 4002. The processors on the crawlers4002 or the controllers may receive the sensor data, identify one ormore adjustments for one or more of the crawlers 4002 from memory (e.g.,identify an adjustment from a lookup table using the sensor data as anindex), and transmit the adjustments to the respective crawlers 4002and/or cause the support surfaces 4012 on the crawlers 4002 to remainlevel. The sensors may continuously generate and transmit sensor data tothe controller and/or the processors on the crawlers 4002 to enable theload 4004 (e.g., the modular home 101) to remain level throughouttransportation to its final destination.

In some embodiments, the self-leveling lifts 4001 of the crawlers 4002may contain analog equipment that causes the support surfaces on thecrawlers to remain level. For instance, the lifts 4001 may contain aresistance device that shifts weight according to the angle of theterrain the crawlers 4002 are traveling on. For example, as a crawler4002 travels uphill, the weight may shift forward to cause the surface4012 to push forward. Each crawler 4002 that transports the modular home101 may have such a mechanism to help enable the modular home 101 toremain level during transportation.

Referring now to FIG. 40B, FIG. 40B shows a side view 4010, an end view4020, and a perspective view 4030 of a crawler 4002, according to someembodiments. The crawler may include one or more tractive elements 4042(e.g., continuous tracks) or wheels configured to propel the crawler4002 over a surface. The crawler 4002 may include a first linearactuator 4044 configured to control the tilt of the support surface 4012along a longitudinal axis of the crawler and a second linear actuator4046 configured to control the tilt of the support surface 4012 along atransverse axis. The crawler 4002 may include one or more guide pins4048 positioned on the support surface 4012 that may be inserted intoreceivers on a load, such as a modular home 101, to accurately positionthe load on the support surface 4012. For example, each of the fourcorners of the support surface may include a guide pin 4048. The crawler4002 may include a thrust bearing 4050 positioned between the actuators4044, 4046 and the support surface 4012, such that the support surface4012 may be allowed to rotate about a vertical axis relative to thecrawler body 4014. This may allow the crawlers 4002 to turn and rotatethe load while the guide pins remain engaged with the load. The linearactuators 4044, 4046 may extend or retract to adjust the tilt of thesupport surface 4012 relative to the crawler body 4014, in order to keepthe support surface 4012 and the load level.

Referring now to FIG. 4I, a method 4100 of controlling a plurality oflinear actuators (e.g., the linear actuators 4044, 4046) is described,according to some embodiments. The method 4100 may include any number ofoperations and the operations may be performed in any order. The method4100 may be performed by equipment of a modular home constructioncompany (e.g., the components of system 4500, shown and described withreference to FIG. 45 ). At operation 4102 of the method 4100, a load(e.g., the load 4004) is positioned on a plurality of crawlers (e.g.,the crawlers 4002). Each crawler 4002 may include a lift 4001 configuredto raise and lower a portion of the load 4004. At operation 4104 of themethod 4100, instructions are sent to the crawlers 4002. Theinstructions may cause the crawlers 4002 to move across a surface (e.g.,surface 4006) to cooperatively move the load 4004. At operation 4106 ofthe method 4100, an elevation of the first crawler 4002 is determinedrelative to the elevation of the other crawlers 4002. The elevation ofthe first crawler 4002 relative to the other crawlers 4002 may bedetermined using data from sensors. For example, optical sensors,pressure sensors, or ultrasonic distance sensors may be used todetermine the relative elevation of the crawlers 4002. At operation 4108of the method 4100, the height of the lift 4001 of the first crawler4002 is adjusted based on the determined elevation of the first crawler4002 relative to the elevation of the other crawlers 4002, such that theload 4004 remains level. In some embodiments of the method 4100, anangle of the body 4014 of the crawler 4002 may be determined, and theangle of the lift 4001 relative to the body 4014 of the crawler may beadjusted such that a support surface 4012 of the lift 4001 remainslevel, even when the crawler 4002 is not on a level surface. Data fromtilt sensors may be used to determine the angle of the bodies 4014 ofthe crawlers 4002 and to calculate the amount that the lifts 4001 mustbe tilted to provide a level support surface 4012.

Crawler Hotel

To transport crawlers (e.g., crawlers 4002) that can be used totransport a modular home (e.g., modular home 101) in a manner that thecrawlers 4002 may be contained during transport on a trailer bed (e.g.,the bed 404 of the trailer 30) and then removed from the trailer bedafter transport is complete, the crawlers 4002 may be stored in a uniquecrawler storage device. Such a crawler storage device may be or includea crawler elevator and ramp system that is installed onto a step-deckportion of the trailer bed. The crawler storage device may be built tostore a number of crawlers 4002 (e.g., twelve crawlers 4002). Thecrawler storage device may include three levels that may move up anddown, thus allowing crawlers 4002 on the respective levels to accessside ramps of the crawler storage device. Upon completion of transport,the side ramps may fold towards the ground to enable the crawlers 4002to drive away from the crawler storage device towards a modular home.Upon completion of the transport of the modular home 101 to its finaldestination, the crawlers 4002 may then travel back to the crawlerstorage device and up the ramps. The ramps may then fold towards thecrawler storage device. The crawlers 4002 and/or the crawler storagedevice (including the ramps) may be controlled by a remote controllersuch that a human does not need to interact with any of the crawlers4002 or the crawler storage device to store and/or remove crawlers 4002from storage in the crawler storage device.

Referring now to FIG. 42A, a crawler storage device 4200 is shown,according to some embodiments. The crawler storage device 4200 mayinclude a frame structure 4202 including a plurality of shelves 4204 anddefining storage area 4206. The crawler storage device 4200 may includeat least one ramp 4208 hingedly coupled to the frame 4202. The ramp 4208may be configured to rotate between a first position, in which the ramp4208 encloses a side of the frame 4202, and a second position (shown),in which the ramp 4208 acts as an unloading ramp for the storage area4206. The storage area 4206 may store one or more crawlers 4002 on eachshelf 4204. A lower shelf 4204 may be positioned at the bottom of thestorage area 4206. At least one upper shelf 4204 may be positioned abovethe lower shelf 4204 and may be configured to raise and lower thecrawler 4002 within the storage area 4206. For example, an upper shelf4204 may be positioned on one or more actuators configured to raise andlower the upper shelf 4204. In some embodiments, the upper shelf 4204may be suspended from the top of the frame 4202 by, for example, one ormore wires, and the wires may be coiled by a winch to raise the uppershelf 4204 or released by the winch to lower the upper shelf 4204.

FIG. 42B shows a side view of a crawler storage device 4210 (e.g.,similar or equivalent to crawler storage device 4200), according to someembodiments. The crawler storage area 4206 may include a first lowershelf 4204 and two upper shelves 4204. Each shelf 4204 may store atleast one crawler 4002 thereupon. The crawler storage device 4210 may bepositioned on the bed of a trailer (e.g., the bed 404 of trailer 30).During transportation of the crawlers 4002, one or more ramps of thecrawler storage device 4210 may be folded up against the side of theframe of the crawler storage device 4210, thus closing off a respectiveside of the storage area 4206. When the trailer 30 arrives at aninstallation site, the one or more ramps 4208 may be folded down suchthat the ramp 4208 extends from the bed 404 of the trailer 30 to theground at the installation site. In FIG. 42B, the ramps 4208 are shownin both their stowed positions against the frame 4202 and the deployedpositions extending to the ground. The one or more crawlers 4002positioned on the lower shelf 4204 may then move down the ramp 4208 fromthe crawler storage area 4206 to the ground at the installation site.Once the lower shelf 4204 is unloaded, the first upper shelf 4204 maylower until it is proximate or touching the lower shelf 4204. The one ormore crawlers 4002 positioned on the first upper shelf 4204 may thenmove down the ramp 4208 from the crawler storage area 4206 to the groundat the installation site. After the first upper shelf 4204 is unloaded,the second upper shelf 4204 may lower until it is proximate or touchingthe first upper shelf 4204. The one or more crawlers 4002 positioned onthe second upper shelf 4204 may then move down the ramp 4208 from thecrawler storage area 4206 to the ground at the installation site. Thecrawlers 4002 may then be used to unload a load positioned on thetrailer 30, for example, a modular home 101.

After the crawlers 4002 finish unloading the load from the trailer 30and the load has been unloaded from the crawlers 4002, the crawlers 4002may return to the crawler storage device 4210. The crawler storagedevice 4210 may be loaded in substantially the opposite way in which itwas unloaded. One or more crawlers 4002 may move up the ramp 4208 ontothe second upper shelf 4204. The second upper shelf 4204 may then beraised above the first upper shelf 4204. Another group of one or morecrawlers 4002 may then move up the ramp 4208 onto the first upper shelf4204. The first upper shelf 4204 may then be raised above the lowershelf 4204. A third group of one or more crawlers 4002 may then move upthe ramp 4208 onto the lower shelf 4204. The ramps 4208 may again befolded up against the side of the frame 4202 of the crawler storagedevice 4210 for transportation to another location.

Referring now to FIG. 43A, a crawler storage device 4300 is shown,according to some embodiments. Similar to the crawler storage device4200, the crawler storage device 4300 may include a frame 4302 defininga crawler storage area 4206. The crawler storage device 4300 may bepositioned on the bed of the trailer (e.g., the bed 404 of trailer 30).The crawler storage device 4300 may include a lower shelf 4304 and atleast one upper shelf 4304. The upper shelves 4304 of the crawlerstorage device 4300 may be fixedly coupled to the frame 4302 and notconfigured to be raised and lowered. The crawler storage device 4300 mayinclude one or more ramps 4308. The one or more ramps 4308 may behingedly coupled to the frame 4302 and may rotate between a verticalposition, in which the ramp 4308 closes off a side of the crawlerstorage area 4306, and a horizontal position (shown). One or more pairsof linkages 4312 or sets of chains may be coupled to the frame 4302 suchthat the ramp 4308 does not rotate farther downward than a substantiallyhorizontal position. The ramp 4308 and the pairs of linkages 4312 may becoupled to a rail 4314 that is slidably coupled to the frame 4302. Therail 4314 may be configured to move up and down relative to the frame4302, thus lifting and lowering the ramp 4308 and the pairs of linkages4312. For example, one or more linear actuators or one or more chaindrives may be used to raise and lower the ramp 4308. The crawler storagedevice 4300 may be configured to lift the ramp 4308 up to each shelf4304 and down to the ground.

FIG. 43B shows a crawler storage device 4310 (e.g., similar orequivalent to crawler storage device 4300), according to someembodiments. The crawler storage device 4310 may be positioned on thebed 404 of the trailer 30 and may store a plurality of crawlers (e.g.,crawlers 4002) on a plurality of shelves 4304. During transportation ofthe crawlers 4002, the one or more ramps 4308 may be folded into avertical position to close off a side of the storage area 4306 of thecrawler storage device 4310. At the installation site, the one or moreramps 4308 may be folded down to a horizontal position. The ramp 4308may be raised or lowered such that the ramp 4308 is substantially levelwith a first shelf 4304 of the plurality of shelves 4304. The one ormore crawlers 4002 positioned on the first shelf 4304 may move onto theramp 4308. The ramp 4308 may then be lowered to the ground at theinstallation site, and the crawlers 4002 may move off of the ramp 4308onto the ground. The ramp 4308 may then be raised such that it issubstantially level with a second shelf 4304. The one or more crawlers4002 positioned on the second shelf 4304 may then move onto the ramp4308. The ramp 4308 may then be lowered to the ground at theinstallation site, and the crawlers may move off the ramp 4308 onto theground. The crawlers 4002 may then be used to unload a load, forexample, a modular home 101, positioned on the trailer 30.

After the crawlers 4002 finish unloading the load from the trailer 30and the load has been unloaded from the crawlers 4002, the crawlers 4002may return to the crawler storage device 4310. The crawler storagedevice 4310 may be loaded in substantially the opposite way in which itwas unloaded. The ramp 4308 may be lowered to the ground of theinstallation site, and a first group of one or more crawlers 4002 maymove onto the ramp 4308. The ramp 4308 may then be lifted such that itis level with a first shelf 4304, and the first group of crawlers 4002may move onto the first shelf 4304. The ramp 4308 may then be loweredback down to the ground of the installation site, and a second group ofone or more crawlers 4002 may move under the ramp 4308. The ramp 4308may then be lifted such that it is level with the second shelf 4304, andthe second group of crawlers 4002 may move onto the second shelf 4304.The ramp 4308 may again be folded up against the side of the frame 4302of the crawler storage device 4310 for transportation to anotherlocation. On the left side of FIG. 43B, the ramp 4308 is shown in thevertical stowed position against the frame 4302 as well as thehorizontal deployed position lowered to the ground. On the right side ofFIG. 43B, the ramp 4308 is shown in the vertical stowed position againstthe frame 4302 as well as the horizontal deployed position raised toupper shelf 4304. FIG. 43C shows an end view 4320, a side view 4330, anda top section view 4331 of a crawler storage device (e.g., the crawlerstorage device 4300, 4310) positioned on the bed 404 of a trailer 30,according to some embodiments. FIG. 43D shows an exploded perspectiveview 4332 of a crawler storage device similar to or the same as thecrawler storage device 4300, shown and described with reference to FIG.43A, according to some embodiments. FIG. 43E shows an end view 4334 of acrawler storage device similar to or the same as the crawler storagedevice 4300, shown and described with reference to FIG. 43A, accordingto some embodiments.

FIG. 43F shows a perspective view of a ramp 4336 of a crawler storagedevice (e.g., similar to the ramp 4308 of crawler storage device 4300),according to some embodiments. The ramp includes a platform portion 4352and an end ramp 4354. The end ramp 4354 may be hingedly coupled to theplatform portion 4352 such that the end ramp 4354 may rotate into astowed position when the ramp 4336 is positioned vertically to reducethe height of the ramp 4336 when the trailer (e.g., trailer 30) ismoving. The end ramp 4354 is shown in the stowed position in FIG. 43B,according to some embodiments. FIG. 43G shows a top view 4338 of theramp 4336, according to some embodiments. FIGS. 43H and I show variousdetail views 4340-4347 of the ramp 4336. FIG. 43J shows an outline 4350showing the area on a bed of a trailer (e.g., the bed 404 of trailer 30)available to position a crawler storage device (e.g., the crawlerstorage device 4300).

FIG. 43K shows an illustration of a crawler storage device 4360,according to some embodiments. The crawler storage device 4360 may besubstantially similar to the crawler storage device 4300. The crawlerstorage device 4360 is shown with two levels (e.g., two shelves 4304),each configured to store two crawlers (e.g., the crawlers 4002). Whilethe crawlers 4002 are being transported to an installation site, theramps (e.g., platforms, elevator platforms, ramps 4308 etc.) arepositioned in a vertical orientation to enclose the crawlers 4002 withinthe crawler storage device 4360. To unload the crawlers 4002, the ramps4308 fold down, rotating about a hinge 4362, to a horizontal position,where they are supported by the pairs of linkages 4312. The hinge 4362and the pairs of linkages 4312 are each coupled to a bar (e.g., the rail4314) that is configured to move up and down, for example, using ahydraulic actuator, chain and sprocket, or lead screw and motor. In someembodiments, one ramp 4308 may be raised to the upper level of thecrawler storage device 4360 to unload the upper crawlers 4002 and theother ramp 4308 may be used to unload the lower crawlers 4002. Thecrawlers 4002 may then move onto their respective ramps 4308, the ramps4308 can be lowered to the ground, and the crawlers 4002 can move offthe ramps 4308 onto the ground. In some embodiments, the crawler storagedevice 4360 may include more than two levels 4304 (e.g., three or fourlevels) and may include only one ramp 4308. The ramp or ramps 4308 mayrepeat the unloading process as many times as necessary to unload all ofthe crawlers 4002.

In some embodiments, instead of a ramp, the crawlers may be removed fromthe trailer bed via an elevator system. For example, a multi-levelelevator may be installed onto the trailer bed. The multi-level elevatormay be configured such that each level may store a number of crawlers ina row on a platform overlaying the truck bed. Upon arriving at the finaldestination, the platforms supporting the crawlers may move off of thetrailer bed such that the platforms are next to the trailer bed over theground. The platforms may then lower towards the ground one by one asthe crawlers drive off of the platform and away from the crawler storagedevice. The platforms may continue to lower and enable the crawlers todrive off until all of the crawlers have driven off. The crawlers maytransport the modular home to a final destination and then drive back tobe lifted back onto the crawler storage system on the trailer.

For example, referring now to FIG. 44 , a crawler storage device 4400for loading and unloading crawlers (e.g., the crawlers 4002) from atrailer (e.g., the trailer 30) is shown, according to some embodiments.The crawler storage device 4400 may be positioned on the bed 404 of thetrailer 30. A translation assembly 4402 of the crawler storage device4400 may be configured to selectively slide the crawler storage device4400 from the bed of the trailer to a position overhanging edge of thebed. For example, a cantilevered number may support the crawler storagedevice 4400 such that the entire crawler storage device 4400 can move toa position entirely to one side of the trailer. An elevator assembly4404 may be configured to raise and lower the crawler storage device4400 after it is moved to the position overhanging the edge of the bed404 of the trailer 30. The elevator assembly 4404 may lower the crawlerstorage device 4400 to the ground (e.g., the surface on which thetrailer is positioned). Crawler storage device 4400 may include aplurality of shelves 4406. Each shelf 4406 may be configured to supportone or more crawlers 4002. At least one of the plurality of shelves 4406may be configured to raise and lower a crawler 4002 or other loadrelative to the other shelves 4406. For example, the shelves 4406 otherthan the lowest shelf 4406 may be configured to move down until they arein contact with or proximate to the lower shelf 4406 such that a crawler4002 positioned on each shelf 4406 can move on and off the shelf 4406 toor from the ground.

Referring now to FIG. 45 , a block diagram of system 4500 for installinga modular home (e.g., modular home 101) is shown, according to someembodiments. The system 4500 may include a controller 4502 configured tocontrol various components of the system 4500. The components of thesystem 4500 may be equivalent or analogous to the components of theother systems described herein.

The controller 4502 may include a processing circuit 4504. Theprocessing circuit 4504 may include a processor 4506, which can be asingle core or multi core processor, or a plurality of processors forparallel processing. The processing circuit 4504 may also include memory4508 (e.g., random-access memory, read-only memory, flash memory). Thememory 4508 may store an application 4510, which may be executed by theprocessor 4506. The controller 4502 may include a communicationinterface 4512 (e.g., a network adapter) for communicating with one ormore other components of the system 4500. The controller may communicatewith the other components of the system 4500, via the communicationinterface 4512, using a wired or wireless connection (e.g., Bluetooth,Wi-Fi, ZigBee, etc.). The controller 4502 can be operatively coupled toa computer network using the communication interface 4512. The networkcan be, for example, the Internet, an intranet and/or extranet, or anintranet and/or extranet that is in communication with the Internet. Insome embodiments, the network may be a telecommunication and/or datanetwork. The network can include one or more computer servers, which canenable distributed computing, such as cloud computing.

The processing circuit 4504 can execute machine-readable instructions,which can be embodied in a program or software, such as the application4510. The instructions may be stored in a memory location, such as thememory 4508. The instructions can be directed to the processor 4506,which can subsequently program or otherwise configure the processingcircuit 4504 to implement methods of the present disclosure. Theprocessing circuit 4504 can be part of a circuit, such as an integratedcircuit. One or more other components of the system 4500 can be includedin the circuit. In some cases, the circuit is an application specificintegrated circuit (ASIC).

The controller 4502 can communicate with one or more remote computersystems through the network. For instance, the controller 4502 cancommunicate with a remote computer system of a user (e.g., e.g., adatabase, an enterprise or extraprise system, an Internet-of-Things(IoT) device, a sensor, or the like). Examples of remote computersystems include personal computers (e.g., portable PC), slate or tabletPC's (e.g., Apple® iPad, Samsung® Galaxy Tab), telephones, Smart phones(e.g., Apple® iPhone, Android-enabled device, Blackberry®), or personaldigital assistants. The user can access the controller 4502 via thenetwork. In some embodiments, the controller 4502 may be positioned onor integrated into a computer, a trailer, a housing portion of a modularhome, a crawler storage unit, a crawler, etc. As described above, theprocessing circuit 4504 of the controller 4502 may include a pluralityof processors 4506 distributed among the components of the system 4500and configured to communicate with each other.

The controller may be configured to communicate with one or more housingportions 4514, one or more winches 4516, one or more crawlers 4518, oneor more crawler storage devices 4520, and one or more booms 4522, amongother components of the system 4500. The winches 4516 may be equivalentor analogous to the winches described above (e.g., the winch configuredto rotate a modular home using the boom 2701, etc.). The controller 4502may send signals or instructions to a winch 4516, via the communicationsinterface 4512, causing a drum (mandrel, etc.) of the winch 4516 torotate a first or second direction to coil rope around the drum orrelease rope from the drum. The booms 4522 may be equivalent oranalogous to the boom 2701. The controller 4502 may send commands orinstructions to a boom 4522, causing the boom 4522 to extend from theside of the bed of the trailer as described above with reference to boom2701. The housing portions 4514 may be equivalent or analogous to thehousing portions of the modular homes described above (e.g., the housingportions 120, 160 of modular home 101). The controller 4502 may beconfigured to communicate with the housing portions 4514 in order toreceive data from and control the operations of the modular home. Forexample, the controller 4502 may send instructions or commands to ahousing portion 4514 causing the housing portion 4514 to inflate one ormore inflatable bladder tanks (e.g., bladder tanks 1411) after themodular home is installed at the installation site and/or to extend orretract mechanical legs in the modular home.

The crawlers 4518 may be analogous or equivalent to the crawlers 190,the crawlers 3802, and/or the crawlers 4002. A crawler 4518 may includecontinuous tracks 4524 or wheels configured to move the crawlers 4518across various surfaces and a lift assembly 4526 that can be raised orlowered and tilted to adjust a support surface of the crawler 4518. Insome embodiments, the support surface includes a sliding platform 4527that allows the load supported by the crawler to translate relative tothe lift assembly 4526. The sliding platform 4527 may be or include ahydraulic platform. A crawler 5100 with such a sliding platform 4527 isshown in FIGS. 51A and 51B. The controller 4502 may be configured tocommunicate with the crawlers 4518 to control the movement of thecrawlers 4002 and to control the angle and height of the support surfacerelative to the crawler base, as well as to control the translation ofthe sliding platform relative to the lift assembly, e.g., by actuatingvarious actuators (e.g., hydraulic actuators, pneumatic actuators,electromechanical actuators, etc.). For example, the controller 4502 maybe a component of a user device such as the smartphone or remotecontrol. When the load is positioned on a plurality of crawlers 4518, auser may input a command indicating a direction of the load is to bemoved, and the communications interface 4512 of the controller 4502 maysend commands or instructions to the crawlers 4518 to simultaneouslymove in the indicated direction. The crawler storage devices 4520 may beequivalent or analogous to the crawler storage devices 4200, 4300, 4400.A crawler storage device 4520 may include shelves configured to move upand down and or ramps 4530 configured to rotate about a hinge and/or tomove up and down. The controller 4502 may be configured to communicatewith the crawler storage devices 4520 to control the movement of theramp, shelves, and any other actuated feature. For example, thecontroller 4502, via the communications interface 4512, and may sendcommands or instructions to the crawler storage device 4520 causing theramp 4530 of the crawler storage device 4520 to fold down, raise, andlower, causing the shelves 4528 to move up and down within the storagearea, and/or causing the crawler storage device 4520 to slide to theedge of the bed of the trailer and lowered. The crawlers 4518 and thecrawler storage device 4520 may each include memory, a processor, and acommunication interface similar to the controller 4502.

In some embodiments, the controller 4502 may enable communicationbetween the components. In some embodiments, the components maycommunicate with each other directly. For example, the crawlers 4518 mayinclude sensors configured to measure the elevation of each crawlerrelative to the other crawlers. The sensor data may be sent to thecommunication interface 4512 of the controller 4502. The processingcircuit 4504 may then determine the required extension of the linearactuators (e.g., linear actuators 1001) coupled to the housing portions4514 in order to keep the housing portions 4514 level as the crawlers4518 move across the surface. The controller 4502 may then sendinstructions or signals via the communication interface 4512 to theactuators of the housing portions 4514, causing the actuators 1001 toextend or retract. In some embodiments, the housing portions 4514 mayinclude sensors configured to detect the angle of the ground and theelevation of each crawler 4518 relative to the other crawler storagedevices 4520. The sensor data may be sent to the communication interface4512 of the controller 4502. The processing circuit 4504 may thendetermine the extension of the actuators 1001 of the crawlers 4518required to keep the support surfaces of the crawlers 4518 and thehousing portions 4514 level. As another example, the controller 4502 maynot send a signal to a winch 4516 to coil a rope until a signal isreceived from a boom 4522 indicating that the boom 4522 is in anextended position.

Referring now to FIG. 46 , a method 4600 for storing a plurality ofcrawlers 4002 is described, according to some embodiments. The method4600 may include any number of operations and the operations may beperformed in any order. The method 4600 may be performed by equipment ofa modular home construction company (e.g., the components of system4500, shown and described with reference to FIG. 45 ). At operation 4602of the method 4600, a crawler storage device (e.g., crawler storagedevice 4200) is positioned on a bed of the trailer. The crawler storagedevice 4200 may include a plurality of shelves 4204 positioned in astorage area 4206 and a ramp 4208. At operation 4604 of the method 4600,the ramp may be lowered. For example, the ramp 4208 is hingedly coupledto a frame 4202 of the crawler storage device 4200 and may rotate abouta hinge from a vertical stowed position to a deployed position in whichthe ramp 4208 forms a slope from the ground to the storage area 4206. Atoperation 4606 of the method 4600, instructions are sent to a firstcrawler 4002 causing the crawler 4002 to move up to the ramp 4208 onto afirst shelf 4204 in the storage area 4206. At operation 4608 of themethod 4600, the first shelf 4204 is raised to lift the first crawler4002 within the storage area 4206. A second shelf 4204 may be positionedunder the first shelf 4204. At operation 4610 of the method 4600,instructions may be sent to a second crawler 4002 causing the secondcrawler 4002 to move up the ramp 4208 onto the second shelf 4204. Insome embodiments of the method 4600, the crawler storage device 4200 mayinclude more than two shelves 4204. For example, the second shelf 4204and the first shelf 4204 may both be positioned above a third shelf4204, and the first and second shelves 4204 may be raised to allow thethird crawler 4002 to move up the ramp 4208 onto the third shelf 4204.After all the crawlers 4002 are loaded into the storage area 4206, theramp 4208 may be raised to a substantially vertical position to closeoff a side of the storage area 4206.

The method 4600 may be reversed to unload the crawlers 4002 from thecrawler storage device 4200. For example, after the ramp 4208 has beenlowered to form a slope between the crawler storage device 4200 and theground, a crawler 4002 on the lowest shelf 4204 may move down the ramp4208 onto the ground. The next lowest shelf 4204 may be lowered downuntil it contacts or nearly contacts the lowest shelf 4204, and acrawler 4002 on the next lowest shelf may move down the ramp 4208.

Referring now to FIG. 47 , a method 4700 for storing a plurality ofcrawlers (e.g., crawlers 4002) is described, according to someembodiments. The method 4700 may include any number of operations andthe operations may be performed in any order. The method 4700 may beperformed by equipment of a modular home construction company (e.g., thecomponents of system 4500, shown and described with reference to FIG. 45). At operation 4702 of the method 4700, a crawler storage device (e.g.,crawler storage device 4300) is positioned on a bed of the trailer(e.g., the bed 404 of trailer 30). At operation 4704 of the method 4700,a ramp 4308 coupled to the crawler storage device 4300 is rotated from asubstantially vertical position to a substantially horizontal position.In the substantially vertical position, the ramp 4308 may close off aside of a storage area 4306 of the crawler storage device 4300. In thesubstantially horizontal position, the ramp 4308 may extend from thecrawler storage device 4300 to the side of the bed 404 of the trailer30. The ramp 4308 may be hingedly coupled to a rail 4314, which may beslidably coupled to the crawler storage device frame 4202 such that thevertical position of the rail 4314 and the ramp 4308 may be adjustedrelative to the crawler storage device frame 4202. At operation 4706,the height (e.g., the vertical position) of the ramp 4308 may beadjusted such that the ramp 4308 may be positioned on or near the ground(e.g., a surface on which the trailer 30 is positioned). At operation4708 of the method 4700, instructions are sent to a first crawler 4002causing the first crawler 4002 to move from the ground onto the ramp4308. At operation 4710 of the method 4700, the height of the ramp 4308is adjusted such that the ramp 4308 is level with a first shelf 4304 inthe storage area of the crawler storage device. At operation 4712 of themethod 4700, instructions are sent to the first crawler 4002 causing thefirst crawler 4002 to move from the ramp 4308 onto the first shelf 4304.In some embodiments, additional crawlers 4002 may be loaded onto othershelves 4304 within the storage area 4306. For example, the height ofthe ramp 4308 may again be adjusted such that the ramp 4308 ispositioned on or near the ground. A second crawler 4002 may then moveonto the ramp 4308. The height of the ramp 4308 may again be adjustedsuch the ramp 4308 is level with the second shelf 4304 in the storagearea 4306, and the second crawler 4002 may move from the ramp 4308 ontothe second shelf 4304. After all the crawlers 4002 are loaded into thestorage area 4306, the ramp 4308 may be raised to a substantiallyvertical position to close off a side of the storage area 4306.

The method 4700 may be reversed to unload the crawlers 4002 from thecrawler storage device 4200. For example, after the ramp 4308 has beenlowered to the horizontal position, the height of the ramp 4308 may beadjusted such that the ramp 4308 is level with the first shelf 4304. Acrawler 4002 positioned on the first shelf may move onto the ramp, theramp may be lowered to the ground, and the crawler may move off the ramponto the ground. The height of the ramp may again be adjusted such thatthe ramp is level with the second shelf. A second crawler positioned onthe second shelf may move onto the ramp, the ramp may be lowered to theground again, and the second crawler may move off the ramp onto theground.

Referring now to FIG. 48 , a method 4800 for unloading a plurality ofcrawlers from a trailer (e.g., the trailer 30) is described, accordingto some embodiments. The method 4800 may include any number ofoperations and the operations may be performed in any order. The method4800 may be performed by equipment of a modular home constructioncompany (e.g., the components of system 4500, shown and described withreference to FIG. 45 ). At operation 4802 of the method 4800, a crawlerstorage device (e.g., crawler storage device 4400) is positioned on abed of the trailer. At operation 4804 of the method 4800, the crawlerstorage device 4400 is slid to a position overhanging an edge of the bedof the trailer 30. The crawler storage device 4400 may be moved to aposition at which the entire crawler storage device 4400 is off to theside of the bed of the trailer 30. At operation 4806 of the method 4800,the crawler storage device 4400 may be lowered until it is touching ornear the ground (e.g., a surface on which the trailer is positioned). Atoperation 4808 of the method 4800, instructions are sent to a firstcrawler 4002 positioned on a first shelf 4406 (e.g., a lowest shelf) ofthe crawler storage device 4400 causing the first crawler 4002 to moveout of the crawler storage device 4400. At operation 4810 of the method4800, a second shelf 4406 of the plurality of shelves (e.g. a shelfpositioned above the first shelf) is lowered to a position contacting orproximate the first shelf 4406. At operation 4812 of the method 4800,instructions are sent to a second crawler 4002 positioned on the secondshelf 4204 causing the second crawler 4002 to move out of the crawlerstorage device 4400.

The method 4800 may be reversed to load the crawlers 4002 into thecrawler storage device 4400 and to move the crawler storage device 4400back onto the bed of the trailer 30. For example, with the crawlerstorage device 4400 positioned on the ground and each shelf 4406 at itslowest position, a first crawler 4002 may move onto an uppermost shelf4406. The uppermost shelf 4406 may be raised, and a second crawler 4002may move onto the next shelf 4406. Once all of the crawlers 4002 arepositioned upon shelves 4406 inside the crawler storage device 4400, thecrawler storage device 4400 may be lifted and slid back onto the bed ofthe trailer 30.

Modular Home

FIG. 49A is a perspective view of a modular home 4900, according to someembodiments. Modular home 4900 may include one or more decks, one ormore entryway ramps, and one or more entryway stair assemblies. Themodular home 4900 may include a plurality of solar panels positioned onthe roof configured to generate electricity for use in the modular home4900. The modular home 4900 may include one or more windows and/orskylights. The modular home 4900 may include one or more doorways orentryways configured to allow a user to move from outside the modularhome 4900 into a living area of the modular home 4900. The modular home4900 may have a crowned roof configured to allow rainwater to flow offof the roof of the modular home 4900. Modular home 4900 may includemultiple housing portions coupled by hinges as described above.

The modular home 4900 design is defined by its unique shape and exteriorskin. The modular home 4900 may be covered with a BIPV, which follows acurve at the floor to create a seamless floor-to-roof appearance.Skylights and windows may be integrated into this BIPV system. Theoverall shape may be derived from the need to deflect wind whilemaximizing energy production, light, and views. The home may be liftedoff the ground by mechanical legs to provide room under the home for aunique network of bladder tanks that are held in place by elasticnetting. The unique folding of the home may result in a one of a kindhinge (e.g., an eight foot tall hinge) that is visible on the exterior.The interior of the two bedroom home may maintain the curved appearanceof the exterior by the use of curved wood veneer on the wall and ceilingsurfaces. The home may be considered 100% off-grid and off all otherutilities that would traditionally interact with the ground (no sewer,septic, water pipe connection, etc.). The home may be self-contained byusing a “Life Support System” which may be a compact system of equipmentand tanks that filters everything used in the house in an infiniterecycling loop.

FIG. 49B is a perspective view of the modular home 4902, according tosome embodiments. The modular home 4902 may have a similar off-the-gridand self-sustaining capability to the modular home 4900. The modularhome 4902 may be a studio or hotel room. The modular home 4902 mayinclude only one housing portion. The modular home 4902 may include asloped roof configured to allow rainwater to flow off of the roof of themodular home 4902. The modular home 4902 may include one or more decks,one or more entryways, and one or more windows and/or skylights. Themodular home 4902 may maintain the curved appearance of the exterior bythe use of curved wood veneer on the wall and ceiling surfaces.

FIG. 49C is a perspective view of a modular home 4900, according to someembodiments. The modular home 4904 may include a fold-down deck that maybe equivalent or analogous to the deck 2400 described above. Duringtransportation on the modular home 4904, the fold-down deck may berotated vertically into a recess in the side of the housing portion toreduce the footprint of the housing portion during shipping and toprotect the windows on the side of the housing portion. The fold-downdeck may include legs configured to support the deck, as described abovewith reference to the deck 2400.

FIG. 49D shows a living area 4906 of the housing portion of the modularhome, according to some embodiments. The living area 4906 may include anentryway or doorway allowing the user to move from the living area tothe outside of the housing portion. Living area 4906 may include apassageway allowing the user to move from the living area 4906 to aliving area of a second housing portion coupled to the first housingportion.

FIG. 49E shows a modular home 4908 including a hinge 4909 applicable tothe first housing portion to a second housing portion, according to someembodiments. The hinge 4909 may be equivalent or analogous to the hinge806 described above. The leaves of the hinge 4909 may be enclosedbetween the first and second housing portions, and the bores and pins ofthe hinge may remain visible when the housing portions are coupledtogether at the installation site.

FIG. 49F shows a modular home 4910 supported by linear actuators,according to some embodiments. As described above with reference tolinear actuators 1001, the linear actuators may be adjustable to accountfor variations in the surface at the installation site. Actuators mayhave base plates with a large enough surface area that the modular home4910 may be installed in an installation site without a concrete orstone foundation. For example, the modular home 4910 may be installed ona grassy area and the base plates may have sufficient surface area toprevent the actuators from sinking into the soil.

FIG. 49G shows a living area 4912 of the housing portion of the modularhome, according to some embodiments. FIG. 49H shows a modular home 4914with a single housing portion, according to some embodiments. FIG. 49Ishows a living area 4916 of the housing portion of the modular home,according to some embodiments.

Transporting and Coupling Portions of a Modular Home Using RoboticCrawlers

In one embodiment of the present disclosure, portions of a modular homemay be transported to a building site separately and then connectedusing crawlers positioned on trailers transporting the portions. Forexample, robotic crawlers may be used to transport two portions of amodular home to a building site and bring the two portions together suchthat the portions may be coupled together (e.g., bolted together). To doso, sets of crawlers may each lift a different portion of a modular homeoff of trailers that brought the portions to the building site. The setsof crawlers may communicate with each other and use sensors to keep theportions level as the crawlers bring the two portions to the finaldestination for the modular home. After reaching the final destination,the crawlers may remain in a static position while sliding platformssupporting the modular home move laterally to push the portions togetheruntil connection bolts in one portion snap into receiving holes in theother portion. Thus, the crawlers may enable heavy portions (e.g.,portions that may exceed 10 tons) of modular homes to connect with eachother without the use of a crane or human intervention.

For example, FIG. 50A is an illustration of an example sequence 5000 fortransporting and coupling individual portions of a modular home (e.g.,housing portions 120, 160 of modular home 101) using crawlers (e.g.,crawlers 5100, shown in FIGS. 51A and 51B), in accordance with someembodiments of the present disclosure. The sequence 5000 may include anynumber of operations and the operations may be performed in any order.The sequence 5000 may be performed by equipment of a modular homeconstruction company (e.g., the components of system 4500, shown anddescribed with reference to FIG. 45 ). At operation 5002, crawlers 5100transport housing portions 120, 160 of a modular home 101 from separatetrailers or delivery trucks to a building site. At operation 5004, thecrawlers 5100 align (e.g., perfectly align) and level (e.g., perfectlylevel) the portions 120, 160 of the modular home 101 a predefineddistance from each other (e.g., six inches). At operation 5006, as thecrawlers 5100 remain in a fixed position, sliding platforms 5110 on topof the crawlers 5100 and supporting the two portions 120, 160 movelaterally to push the two portions 120, 160 together. The two portions120, 160 may be manually bolted together or may automatically bolttogether when the two portions 120, 160 are pushed towards each other.

Referring now to FIG. 50B, a method 5050 for transporting and couplingindividual portions of a modular home (e.g., housing portions 120, 160of modular home 101) using crawlers (e.g., crawlers 5100) is described,according to some embodiments. The method 5050 may include any number ofoperations and the operations may be performed in any order. The method5050 may be performed by equipment of a modular home constructioncompany (e.g., the components of system 4500, shown and described withreference to FIG. 45 ). At operation 5052 of the method 5050, a firsthousing portion 120 of a modular home 101 on a platform 5110 of a firstcrawler 5100. The platform 5110 is configured to be raised and lowered,rotated, and translated laterally relative to the body 5101 of thecrawler 5100. At operation 5054 of the method 5050, a second housingportion 160 of a modular home 101 on a platform 5110 of a second crawler5100. The second crawler 5100, including the platform 5110, may besubstantially similar to the first crawler 5100. The first and secondhousing portions 120, 160 may be configured to be coupled together as inthe embodiments described above. At operation 5056, instructions aresent to at least one of the first or second crawlers 5100 causing atleast one of the first or second crawlers 5100 to move at least one ofthe first housing portion 160 or the second housing portion 160 suchthat the first housing portion 120 is aligned with the second housingportion 160 in a horizontal direction and the first housing portion 120is a predetermined distance from the second housing portion 160. Thehousing portions 120, 160 may thus be horizontally aligned in theorientation in which they will be coupled together. “Horizontallyaligned” as used herein may refer to a vertical edge of the firsthousing portion 120 being aligned with a corresponding vertical edge ofthe second housing portion 160. The aligned vertical edges may beconfigured to couple together when joining the first and second housingportions 120, 160 to form a complete modular home 101. The predetermineddistance between the housing portions 120, 160 may be less than thecombined maximum translation stroke of the platforms of the first andsecond crawlers 5100. At operation 5058, instructions are sent to atleast one of the first or second crawlers 5100 causing at least one ofthe first or second crawlers 5100 to adjust the height of at least oneof the first housing portion 120 or the second housing portion 160 suchthat the first housing portion 120 is aligned with the second housingportion 160 in a vertical direction. One or more actuators of actuatorassembly 5114 may be used to adjust the height of the platform andthereby adjust the height of the housing portion 120, 160. The housingportions 120, 160 may thus be horizontally and vertically aligned in theorientation in which they will be coupled together, but still spacedapart. “Vertically aligned” as used herein may refer to the bottom andtop edges of the first housing portion 120 being aligned with thecorresponding, respective bottom and top edges of the second housingportion 160. The aligned bottom and top edges may be configured tocouple together when joining the first and second housing portions 120,160 to form a complete modular home 101. At operation 5060, instructionsare sent to at least one of the first or second crawlers 5100 causing atleast one of the first or second crawlers 5100 to laterally translate atleast one of the first platform 5110 or the second platform 5110 untilthe first housing portion 120 contacts the second housing portion 120.Any of the coupling methods described herein may then be used to coupletogether the first and second housing portions 120, 160. For example,the latch assemblies 5210 may automatically engage when the firsthousing portion 120 meets the second housing portion 160.

FIGS. 51A and 51B are illustrations of a robotic crawler 5100, inaccordance with some embodiments of the present disclosure. The roboticcrawler 5100 may be substantially similar to the crawler 4002 shown inFIG. 40B, with the addition of a sliding platform 5110 positioned on topof the crawler 5100. The sliding platform 5110 is positioned on top of asupport platform 5112, which is coupled to an actuator assembly 5114.The actuator assembly 5114 may allow for adjustment of the height andangle of the support platform 5112, as described above with reference tothe crawler 4002 of FIG. 40B. One or more linear actuators 5116 (e.g.,hydraulic cylinders, pneumatic actuators, electromechanical actuators,etc.) may be coupled to the support platform 5112 on one end and thesliding platform 5110 on the other end. When actuated, the linearactuators 5116 slide (e.g., translate) the sliding platform 5110 acrossthe support platform 5112. FIGS. 51A and 51B show the robotic crawler5100 in a closed position and an open position, respectively. Thehydraulic platform 5110 may be used to support a portion 120, 160 of amodular home 101 with one or more other crawlers 5100. The crawler 5100may move the portion 120, 160 of the modular home 101 to a finaldestination using the crawler's tractive elements 4118, along with othersimilar crawlers 5100 supporting the portion 120 of the modular home101. Another set of crawlers 5100 may similarly move another portion 160of the modular home 101 to the final destination such that the twoportions 120, 160 are close to each other with an open area facing eachother. After reaching the final destination, the crawler 5100 may slidethe sliding platform 5110 from a closed position (e.g., a position inwhich the sliding platform 5110 is locked and not moving) into a slidingposition (e.g., a position in which the sliding platform 5110 is slidingor has been slid by the linear actuators 5116) in conjunction with theother crawlers 5100 supporting the portion 120 of the modular home 101.The crawler 5100 may slide the sliding platform 5110 in a directionopposite the direction the set of crawlers 5100 supporting the otherportion 160 of the modular home 101 slide the other portion 160 suchthat the two portions 120, 160 slide close together. The crawler 5100and the other crawlers 5100 may slide the sliding platforms 5110 untilthe two portions 120, 160 of the modular home contact one another. Uponor responsive to the portions 120, 160 contacting one another, the twoportions 120, 160 of the modular home 101 may be bolted together, or maybe coupled together using any of the coupling methods described herein.

FIGS. 52A and 52B are illustrations of two portions 5201, 5202 of amodular home 5200 being assembled by the robotic crawlers 5100, inaccordance with some embodiments of the present disclosure. The firsthousing portion 5201 includes a plurality of latch assemblies 5210(e.g., clamp assemblies), and the second housing portion 5202 includes aplurality of receiver assemblies 5220. When the sliding platforms 5110of the crawlers 5100 move the housing portions 5201, 5201 toward eachother, the latch assembles 5210 engage the receiver assemblies 5220 tocouple the portions 5201, 5202 together.

Referring now to FIG. 52C, a top detail view 5230 and a side detail view5240 of a latch of latch assembly 5210, an isometric view 5250 of thelatch assembly 5210, and a top view 5260 showing the latch assembly 5210engaging the receiver assembly 5220 are shown, according to someembodiments. To install the latch assembly 5210, a pocket 5211 is cutinto a structural tube 5212 of the frame of the housing portion 5201. Aninsert bar 5213 may be fastened or otherwise coupled (e.g., via threadedfasteners or by welding) to the structural tube 5212 such that so thatthe portions of the structural tube 5212 both above and below the pocket5211 can resist any forces pulling on the insert bar 5213. For example,the insert bar 5213 may be centered on the pocket 5211 such that anequal amount of the insert bar 5213 extends above and below the pocket5211. The insert bar 5213 may include or be coupled to a mounting plate5214 that extends out of the pocket 5211. The latch 5215 is coupled tothe mounting bracket. The latch 5215 includes an opening 5216 configuredto receive a securing rod 5224 and surrounded by a rotating jaw lock5217. The receiver assembly 5220 includes an insert bar 5223 (e.g.,similar to insert bar 5213) coupled to a securing rod 5224. When theportions 5201, 5202 of the modular home 5200 are moved toward each otherby the crawlers 5100 with the latch assemblies 5210 aligned with thereceiver assemblies 5220, the securing rod 5224 can push open therotating jaw lock 5217 and be received in the opening 5216. The rotatingjaw lock 5217 can then close around the securing rod 5224 to lock thehousing portions 5201, 5202 together. In some embodiments, the rotatingjaw lock 5217 may be spring loaded. The rotating jaw lock 5217 and maybe pushed open by the securing rod 5224 and be forced closed by thesprings when the securing rod 5224 is received in the opening 5216. Inother embodiments, the rotating jaw lock 5217 may be opened and closedby an actuator (e.g., an electric actuator). For example, a user may beable to send an instruction from a user device to the rotating jaw lock5217 causing the rotating jaw lock 5217 to open or close.

Ridge Cap

FIGS. 53A-53C are illustrations of a ridge cap assembly 5300, inaccordance with some embodiments of the present disclosure. The ridgecap assembly 5300 includes a first sealing member 5301 and a secondsealing member 5302. The first sealing member 5301 includes a slot 5311configured to receive a flange 5361 of a roof panel of a first housingportion 120 of a modular home 101. The slot may be inserted over theflange and the first sealing member 5301 can be fastened to the flange5361. The first sealing member 5301 includes a cantilevered portion 5312that extends past the bottom of the slot 5311 and beyond the edge of theflange 5361. The cantilevered portion 5312 extends substantially in thesame direction as the flange 5361 is inserted into the slot 5311. Thesecond sealing member 5302 includes a slot 5321 configured to receive aflange 5362 of a roof panel of a second housing portion 160 of themodular home 101. The second sealing member 5302 includes a compressiblemember 5322 positioned near the bottom of the slot 5321 and the edge ofthe flange 5362. The compressible member 5322 may include a hollowcenter 5323 that increases the compressibility of the member 5322. Thecompressible member 5322 may include two ridges 5324 positioned on topof the member 5322 and opposite the hollow portion 5323. When thehousing portions 120, 160 are moved toward each other and fastenedtogether, the cantilevered portion 5312 of the first sealing member 5301may overlap the compressible member 5322 of the second sealing member5302. In some embodiments, the cantilevered portion 5312 may contact andcompress the compressible member 5322. The cantilevered portion 5312 maycontact the ridges 5324 to form a redundant seal to prevent water,debris, and animals from entering the modular home 101 though the spacebetween the roof flanges 5361, 5362. Even if the cantilevered portion5312 does not contact the compressible member 5322, resulting in a smallgap therebetween, the overlap of the cantilevered portion 5312 andcompressible member 5322 may substantially prevent water, debris, andanimals from entering the modular home 101.

FIGS. 53D and 53E illustrate a third sealing member 5351 and a fourthsealing member 5352. The third sealing member 5351 may be substantiallysimilar to the first sealing member 5301, except that the slot 5321 of5301 extends further to engage more of the flange 5362 of the roof ofthe housing portion 120, 160. The fourth sealing member 5352 may besubstantially similar to the second sealing member 5301, except that acantilevered portion 5353 of the fourth sealing member 5352 is orientedperpendicular to the direction that a flange is inserted into the slot5354, while the cantilevered portion of the second sealing member 5302is oriented substantially in the same direction that a flange 5361 isinserted into the slot 5311.

Deck and Ramp Hand Winch

FIGS. 54A-54C illustrate a hand winch assembly 5400 for deploying andstowing the decks and ramps of a modular home (e.g., fold-down deck2400, entryway assembly 2500, etc.), according to some embodiments. Thehand winch assembly 5400 may be coupled, for example, to a floorassembly 1400 of the modular home 101, and may allow for the deploymentof the decks and ramps by hand, without the need for an electrical powersource. The hand winch assembly 5400 includes a removable handcranklever 5402 coupled to the gearbox assembly 5420, which in turn iscoupled to a winch shaft assembly 5440 coupled to a lug 5460. The lug5460 may be welded, bolted, or otherwise coupled to the deck or ramp,such that rotation of the lug causes the rotation of the deck or ramp.The handcrank lever 5402 includes a handle 5404, an offset member 5406,and an input shaft 5408. The input shaft 5408 is coupled to a drive gear5422 of the gearbox assembly 5420. A user (e.g., an employee of amodular home construction company) may hold the handle 5404 of thehandcrank lever 5402 and rotate it about the input shaft 5408 to turnthe drive gear 5422. In some embodiments, the hand winch assembly 5400includes a bearing to hold the input shaft 5408 in line with the drivegear 5422. In some embodiments, the user may hold the input shaft withthe user's other hand while rotating the handle 5404. The drive gear5422 is configured to rotate a worm gear 5424, which in turn rotates aworm screw 5426, which is coupled to or formed on a worm drive shaft5428. The worm gear 5424 may be larger than the drive gear 5422, suchthat output torque is increased and the deck or ramp can be lifted usinga relatively low amount of manual force. The worm drive shaft 5428 iscoupled to or integrally formed with a second worm screw 5430, which isconfigured to rotate a second worm gear 5432. The second worm gear 5432is coupled to and configured to rotate the winch shaft assembly 5440.

In some embodiments, the winch shaft assembly 5440 may include only ashaft. For ease of assembly, in some embodiments (e.g., as shown in FIG.54A), the winch shaft assembly 5440 may include an intermediate shaft5442 coupled to the second worm gear 5432 at one end and to a firstcoupling 5444 at its other end. The first coupling 5444 may be coupledto a second coupling 5446, which is coupled to a winch shaft 5448. Thewinch shaft 5448 is coupled to and configured to rotate the lug 5460.The winch shaft 5448 may include one or more keyways 5450, and the lug5460 may include one or more matching keyways 5462. A machine key may beinserted into each pair of keyways to rotatably couple the winch shaft5448 to the lug 5460. In some embodiments, the gearbox assembly 5420includes a two-way ratchet gear 5434 with a locking switch 5436. Theratchet gear 5434 may be configured to prevent the ramp or deck fromfree falling from a stowed position to the deployed position andback-driving the gearbox assembly 5420. The gearbox assembly 5420 mayinclude an outer housing 5438 to protect the other components of thegear assembly from dirt and debris. The shafts 5428, 5442, 5448 andgears 5434, 5422, 5424 may be mounted to bearings to support rotationand maintain alignment. In some embodiments, an input shaft 5408 may becoupled to a powered device rather than to a manual handle 5404. Forexample, a user could couple a hand drill to an input shaft 5408 and maydrive the gearbox assembly 5420 by activating the hand drill. In otherembodiments, an actuator may be integrated into the gearbox assembly,and the gearbox assembly 5420 may be driven by the actuator in responseto a user input, such as a press of a button coupled to the housingportion 120 or a selection of an option on a GUI of a user device like atablet or smartphone. A hand winch assembly 5400 may be installed neareach of the deployable ramps, decks, and awnings. The handcrank lever5402 may be removable such that, once installed, the lever 5402 can beremoved for aesthetic purposes and to prevent unauthorized operation ofthe hand winch assemblies 5400 after installation of the modular home101.

FIG. 54B illustrates a fold-down deck 5470 (e.g., similar to the folddown deck 2400) mounted to a housing portion (e.g., housing portion 120)that includes the hand winch assembly 5400, according to someembodiments. The fold-down deck 5470 may include one or more struts 5472(e.g., gas springs) to dampen the downward motion when the deck 5470 isbeing lowered from the vertical, stored position to the horizontal,deployed position. The struts 5472 may also reduce the force required tolift the deck 5470 to the stowed position form the deployed position,the reducing the amount of manual force needed to turn the hand cranklever 5402. FIG. 54C includes additional detail views of the gearboxassembly 5420, the lug 5460, and the fold-down deck 5470.

Bladder Tank Platforms

FIGS. 55A-55C illustrate a floor assembly 5500 (e.g., similar to thefloor assembly 1400) of a housing portion of a modular home includingtwo bladder tank support assemblies 5510, according to some embodiments.The bladder tank support assemblies 5510 include a support platform 5512suspended by four cables 5514 (e.g., wire ropes) from the floor frame5502. The support platforms 5512 are configured to support the bladdertanks (e.g. bladder tanks 1411) or batteries configured to store powerfor use in the modular home 101. The cables 5514 of the supportplatforms 5512 to be raised and lowered using a hand winch assembly5516. The support platforms at 5512 provide a rigid surface to protectthe bladder tanks 1411 from potentially damage due to uneven and sharpsurfaces below the floor assembly 5500. Though not shown in FIGS.55A-55C, the frame 5502 of the floor assembly 5500 may include one ormore lower plates (e.g., skid plates 1405 of the floor assembly 1400)coupled to the bottom of the floor joists 5504. The support platforms5512 may be lowered from an upper position in which the supportplatforms 5512 are received within an opening in the lower plate (e.g.,the openings 1413 in the skid plates 1405 shown in in FIGS. 14A-14C) toa lower position below the floor assembly 5500. For example, the supportplatform 5512 may be lowered to the ground at the installation locationwhen the linear actuators 1001 have lowered the modular home to theinstalled height. In the upper position, a lower surface of the supportplatform 5512 may be substantially flush with a lower surface of theskid plate 1405. In some embodiments, when the support platform 5512 isin the upper position, an upper surface of the support platform 5512 maycontact a lower surface of the floor assembly 5500 within the opening1413. Thus, when the modular home 101 is rotated on the bed of thetrailer 30, the support platform 5512 may bear a portion of the weightof the modular home 101. This may further reduce the friction betweenthe modular home and the trailer by distributing the weight of themodular home 101 across a larger surface area.

Referring now to FIG. 55B, a bladder tank support assembly 5510 is shownin further detail, according to some embodiments. Four pulleys 5518 areconfigured to be coupled to the frame 5502 of the floor assembly 5500.The cables 5514 extend through and are rotatably coupled to the pulleys5518, such that the support platform 5512 hangs from the pulleys 5518via the cables 5514. The hand winch assembly 5516 may be substantiallysimilar to the hand winch assembly 5400, except that the winch shaftassembly 5440 is replaced with a larger winch shaft 5520 that extendsacross the support platform 5512. The hand winch assembly 5516 and ashaft bracket 5522 may be coupled to the floor frame 5502 to support thewinch shaft 5520. The winch shaft is 5520 may rotate relative to thehand winch assembly 5516 and the shaft bracket 5522 when the removablehand crank lever 5524 is rotated by a user. The cables 5514 may becoupled to the winch shaft 5520 such that when the winch shaft 5520 isrotated using the hand winch assembly 5516, the cables 5514 wrap aroundthe winch shaft 5520. As the cables 5514 wrap around the winch shaft5520, the cables 5514 are pulled through the pulleys 5518 causing thesupport platform 5512 to be lifted. The hand winch assembly 5516 can beoperated in reverse by rotating the hand crank lever 5524 in theopposite direction to lower the support platform 5512. As the winchshaft 5520 rotates in reverse, the cables 5514 unwrap from the winchshaft 5520 and the support platform 5512 is lowered. The hand winchassembly 5516 may be accessible from underneath the floor frame 5502, orthe hand crank lever 5524 may extend beyond the edge of the floor frame5502 so that the pin and winch assembly 5516 may be operated from theside of the housing portion 120. As discussed above with respect to thehand winch assembly 5400, in some embodiments, the hand winch assembly5516 may be powered by an integrated or external powered actuator ormotor.

FIG. 55C includes a side view and a section view of the floor assembly5500, including the bladder tank support assemblies 5510. The supportplatforms 5512 may be lowered using the hand winch assembly 5516 untilthe support platforms 5512 rest on the ground or the support platforms5512 may remain suspended by the cables 5514 at a desired distance belowthe floor frame 5502. Once the support platforms 5512 have been lowered,the bladder tanks 1411 can be inflated for use. The support platform5512 may protect the bladder tanks 1411 from potential wear andpunctures due to the condition of the ground at the installation site.The support platform 5512 may include integrated heating elements (e.g.,electric resistance heaters, heating wires, hot water pipes or tubes,etc.) to heat the bladder tanks 1411. In some embodiments, the modularhome 101 may include one or more temperature sensors (e.g.,thermometers, thermocouples, etc.) configured to monitor the temperatureof the contents of a bladder tank 1411. The modular home or the bladdertank support assembly 5510 supporting the bladder tank 1411 may includea controller including a processor and memory. The memory may storeinstructions that, when executed by the processor, cause the controllerto receive temperature data from the temperature sensor. Theinstructions may further cause the controller to control and adjust theoperation of the heating elements based on the temperature data. Forexample, a digester bladder tank 1411 for human waste received from theliving area of the modular home 101 may operate most efficiently at aspecific predetermined temperature. If the temperature in the digesterbladder tank 1411 drops below the predetermined temperature, as measuredby the temperature sensor, the controller may activate or increase theheat output by the heating elements, for example, by increasing theelectrical current through a resistance heater. In some embodiments, ashroud (e.g., a bellows-style shroud) may surround the gap between thesupport platform 5512 and the floor frame 5502 for additional protectionand thermal insulation of the bladder tank 1411. The shroud may includeheating elements similar to those included in the support platform 5512,which may similarly be operated by the controller based on the detectedtemperature of the contents of an associated bladder tanks 1411. In someembodiments, the floor assembly 5500 may include access panelsaccessible via the living area of the modular home 101. A user may usethe hand winch assembly 5516 to raise the support platform 5512 suchthat maintenance can be performed on the bladder tank 1411 or batteriespositioned on the support platform 5512 from inside the living area.

When the support platform 5512 is in the lower position and the bladdertanks 1411 are inflated, the bladder tanks 1411 may extend into theopening 1413 in the skid plate 1405, as shown in FIG. 17 . Referringstill to FIG. 17 , an intermediate plate 1705 may be positioned abovethe opening and between and parallel to the upper plate 1401 and theskid plate 1405. The intermediate plate 1705 may have a footprint thatcovers the entire opening 1413 such that the upper plate 1401 cannot beaccessed via the opening 1413. Thus, the intermediate plate 1705 maysubstantially seal the opening 1413 such that water, cold air, andanimals cannot reach the upper plate 1401. Insulation may also bepositioned between the intermediate plate 1705 and the upper plate 1401to improve temperature control within the living area of the modularhome 101. In some embodiments, the intermediate plate 1705 may alsofunction as the second plate 1474 described above with reference toFIGS. 14A-14C. When deflated, the bladder tanks 1411 may fit between thesupport platform 5512 and the intermediate plate 1705. The supportplatform 5512 may include a base plate 5542 and a plurality of supportmember 5544 coupled to the perimeter of the base plate 5542. The supportmembers 5544 may contact the intermediate plate 1705 and a deflatedbladder tank may fit between the base plate 5542 and the intermediateplate 1705. In some embodiments, when the support platform 5512 is inthe lower position and the bladder tanks 1411 are inflated, the bladdertanks 1411 may extend to and contact the intermediate plate 1705.

Referring now to FIG. 55D, a method 5550 for transporting a modular home(e.g., the modular home 101) is described, in accordance with someembodiments. The method 5550 may include any number of operations andthe operations may be performed in any order. The method 5550 may beperformed by equipment of a modular home construction company (e.g., thecomponents of the trailer 30, shown and described with reference to FIG.45 ). At operation 5552 of the method 5550, a modular home (e.g.,modular home 101) is moved from a first location to a second locationwith a deflated inflatable bladder tank (e.g., the bladder tank 1411)positioned between an upper plate of a floor assembly (e.g., the upperplate 1401 of the floor assembly 1400) of the modular home 101 and asupport platform (e.g., the support platform 5512) positioned below thefloor assembly 1400, with the support platform 5512 in an upper positionsupporting the inflatable bladder tank 1411. In the upper position, thelower surface of the support platform 5512 and the lower surface of theskid plates 1405 may be substantially flush, and the deflated bladdertank 1411 may fit between the support platform and the second plate 1474(e.g., the intermediate plate 1705). If the floor assembly 1400 does notinclude the intermediate plate 1705, the deflated bladder tank 1411 mayfit between the support platform and the upper plate 1401. At operation5554 of the method 5550, the support platform 5512 is lowered to a lowerposition. As described above, the support platform 5512 may be suspendedfrom a plurality of cables 5514 run through pulleys 5518 and coupled toa shaft 5520. Lowering the support platform 5512 may include operating awinch assembly (e.g., hand winch assembly 5516) to unwrap the pluralityof cables 5514 from a shaft 5520. In some embodiments, the supportplatform 5512 may be on the ground at an installation site when in thelower position. In some embodiments, the support platform 5512 mayremain suspended by the cables 5514 above the ground when in the lowerposition. At operation 5556 of the method 5500, with the supportplatform 5512 in the lower position, the bladder tank 1411 is inflated.The bladder tank 1411 may be sized such that, when the bladder tank 1411inflates, it expands from the support platform 5512 to the intermediateplate 1705 or to the upper plate 1401 if the flooring assembly does notinclude an intermediate plate 1705.

Modular Home Unloading

Referring now to FIGS. 56A-56O, a sequence 5600 for unloading a modularhome (e.g., modular home 101) from the bed of a trailer (e.g., thetrailer 30) in accordance with the systems and methods described hereinis shown, according to some embodiments. Portions of the sequence 5600may be similar or identical to portions of the methods and sequencesdescribed above relating to rotating the modular home 101 and unloadingthe modular home 101 from the trailer 30. The sequence 5600 may includeany number of operations and the operations may be performed in anyorder. The sequence 5600 may be performed by equipment of a modular homeconstruction company (e.g., the components of system 4500, shown anddescribed with reference to FIG. 45 ). In the sequence 5600, two housingportions 120, 160 may be positioned on the bed of the bed of the trailer30. The housing portions 120, 140 may be two halves of a single modularhome 101 split down the middle of the modular home 101. At operation5602 of the sequence 5600, trailer outriggers 31 may extend downward tothe ground to support the trailer 30, and an extendable winch assembly(e.g., extendable winch assembly 2755) extends from the side of thetrailer 30. At operation 5604 of the sequence 5600, the extendable winchassembly 2755 is coupled to the modular home 101, and the housingportions 120, 160 are each rotated approximately ninety degrees usingthe extendable winch assembly 2755. At operation 5606 of the sequence5600, linear actuators coupled to the housing portions 120, 160 (e.g.,linear actuators 1001) extend downward to the ground. At operation 5608of the sequence 5600, the linear actuators 1001 engage the ground andlift the modular home 101 off of the trailer 30 and the outriggers 31 ofthe trailer are lifted. Unlike several of the other methods describedabove, the linear actuators 1001 extend directly to the ground ratherthan engaging with crawlers. At operation 5610 of the sequence 5600, thetrailer 30 is moved out from underneath the modular home 101, which isfully supported by the linear actuators 1001.

At operation 5612 of the sequence 5600, a plurality of crawlers (e.g.,crawlers 5100) are moved underneath the modular home 101. At operation5614 of the sequence 5600, the linear actuators 1001 lower the modularhome 101 onto the plurality of crawlers 5100. Because the trailer 30 hasmoved out from underneath the modular home 101, one or more of thecrawlers 5100 are able to move under the center of the modular home 101which was previously supported by the trailer 30. In some embodiments, asingle crawler 5100 may be positioned under the center of the modularhome 101 and may be capable of supporting the modular home 101 withoutthe use of additional crawlers 5100. Additionally, because the linearactuators 1001 are able to lower the modular home 101 onto the crawlers5100, the crawlers 5100 may not require a support platform that is ableto be raised and lowered. At operation 5616 of the sequence 5600, thelinear actuators 1001 continue to retract such that the modular home 101is entirely supported by the crawlers 5100 and the linear actuators 1001are no longer in contact with the ground. At operation 5618 of thesequence 5600, the crawlers 5100 move across the ground to carry themodular home 101 to the installation location. At operation 5620 of thesequence 5600, the linear actuators 1001 again extend downward from themodular home 101 towards the ground. At operation 5622 of the sequence5600, the linear actuators 1001 lift the modular home 101 off of theplurality of crawlers 5100 such that the modular home 101 is completelysupported by the linear actuators 1001. At operation 5624 of thesequence 5600, the plurality of crawlers 5100 move out from underneaththe modular home 101. The crawlers 5100 may return to a crawler hotel onthe trailer 30, or may move underneath a second modular home 101 beingunloaded from a second trailer. At operation 5626 of the sequence 5600,the linear actuators 1001 lower the modular home 101 to an installedheight. The installed height may be a predetermined height at which themodular home 101 can be lived in or otherwise accessed by a user. At theinstalled height, fold-down decks, fold-down ramps, and/or fold-downstairs may be properly deployed such that the support legs contact theground and the ramps, decks, and stairs are level. The installed heightmay also allow the bladder tanks to be deployed underneath the modularhome 101. At the installed height, the linear actuators may be lockedinto place such that the rod of the linear actuator 1001 is unable toretract farther into the housing of a linear actuator 1001 and themodular home 101 may remain at the installed height even if hydraulicpressure or electrical power to the linear actuator 1001 is lost.

In some embodiments, the crawlers 5100 may still include a platform 5110that can be lifted and lowered by actuators. After the crawlers 5100move the modular home 101 to the installation location at operation5618, different methods may be used to unload the modular home 101 formthe trailer. For example, rather than extending the linear actuators1001 a second time to lift the modular home 101 off of the crawlers5100, the crawlers 5100 may instead lower the modular home 101 onto aplurality of fixed supports positioned at the installation site. Thecrawler support platform 5110 may be moved to an upper position beforethe modular home 101 is set on the platforms 5110 or while the modularhome 101 is being moved to the installation location. When the modularhome 101 arrives at the installation site, the crawlers 5100 may lowerthe support platforms 5110 until the modular home 101 rests on the fixedsupports and support platforms disengage from the modular home 101. Thefixed supports may be arranged such that when the modular home 101 isset on the fixed supports, the modular home is at the installed height.In other embodiments in which the crawlers 5100 include an adjustableheight platform, while the modular home is still supported by theplatforms 5110 of the crawlers 5100 in an upper position, the linearactuators 1001 may extend to a length at which the modular home 101would be at the installed height. The platforms 5110 may then be lowereduntil the linear actuators 1001 contact the ground and support themodular home 101 and the platforms 5110 disengage from the lower surfaceof the modular home 101.

At operation 5628 of the sequence 5600, fold-down decks 5652, afold-down ramp 5654, and a fold-up awning 5656 are moved from respectivestowed positions to respective deployed positions. In the stowedposition, the decks 5652, ramps 5654, and awnings 5656 may be positionedagainst a vertical wall of the modular home 101. The awning 5656 may bepositioned above a doorway and may include a light configured toilluminate the doorway. When moved to the deployed position, the ramps,decks, and awnings may extend from the modular home 101 perpendicularlyto the vertical wall. At operation 5630 of the sequence 5600, railings5658 are installed on the fold-down decks 5652 and the fold-down ramp5654. In some embodiments, operations 5612-5624 may not be necessarybecause the trailer 30 is able to position a modular home 101 in theinstalled position without the need for the crawlers 5100 to maneuverthe modular home into the installed position. In these embodiments, thetrailer 30 may be moved such that the modular home 101 is positionedabove the installed position, the linear actuators 1001 may lift themodular home 101 of the trailer 30, the trailer 30 may move out fromunderneath the modular home 101, and the linear actuators 1001 may lowerthe modular home 101 to the installed height.

In order to load the modular home 101 onto the trailer, the sequence5600 may be substantially reversed. First, the linear actuators mayraise the modular home 101, and the crawlers 5100 may move underneaththe modular home 101. Next, the linear actuators 1001 may retract tolower the modular home 101 onto the crawlers 5100. Then, the crawlers5100 may move the modular home 101 to a loading position accessible bythe trailer 30. The linear actuators 1001 may then extend to the groundand lift the modular home 101 off of the crawlers 5100. Next, thecrawlers 5100 may move out from under the modular home 101, and thetrailer 30 may be moved under the modular home 101. For example, atractor unit coupled to the trailer 30 may back the trailer 30 under themodular home 101. Next, the linear actuators 1001 may retract to lowerthe modular home 101 onto the trailer 30. The linear actuators 1001 maycontinue to retract until the linear actuators 1001 are no longer incontact with the ground and the modular home 101 is fully supported bythe trailer 30. Finally, the edges of the modular home 101 not coupledby the hinge may be decoupled from one another and the housing portions120, 160 may be rotated back into a longitudinal orientation on the bedof the trailer 30. When the trailer 30 is able to be maneuvered underthe modular home 101, the crawlers 5100 may not be required. The linearactuators 1001 may extend to lift the modular home 101, the trailer maybe backed under the modular home 101, and the linear actuators 1001 mayretract to lower the modular home 101 onto the trailer 30. The housingportions 120, 160 can then be rotated into a longitudinal position asdescribed above.

Referring now to FIG. 57 , a method 5700 for unloading a modular home(e.g., the modular home 101) from a trailer (e.g., the trailer 30) isdescribed, in accordance with some embodiments. The method 5700 mayinclude any number of operations and the operations may be performed inany order. The method 5700 may be performed by equipment of a modularhome construction company (e.g., the components of system 4500, shownand described with reference to FIG. 45 ). The method 5700 maycorrespond to a portion of the sequence 5600 described above. Atoperation 5702 of the method 5700, a first housing portion 120 and asecond housing portion 160 of the modular home 101 are positionedlongitudinally on the bed of the trailer 30. At operation 5704 of themethod 5700, the housing portions 120, 160 are rotated such that themodular home 101 overhangs from first and second sides of the bed. Thehousing portions may each be rotated approximately 90 degrees using, forexample, the extendable winch assembly 2755 as described above. Also asdescribed above, the housing portions 120, 160 may be coupled togetherat a vertical edge by a hinge, such that pulling the hinge using theextendable winch assembly 2755 causes the housing portions 120, 160 torotate about pins in a slot. At operation 5706 of the method 5700, anedge of the first housing portion 120 is coupled to an edge of thesecond housing portion 160. For example, the vertical edges opposite thevertical edges joined by the hinge may be coupled together. At operation5708 of the method 5700, a plurality of linear actuators (e.g., linearactuators 1001) coupled to the overhanging portions of the modular home101 are extended until the linear actuators 1001 engage the ground andlift the modular home 101 off of the bed the trailer 30, such that themodular home 101 is supported by only the linear actuators 1001. Atoperation 5710 of the method 5700, the trailer 30 is moved out fromunderneath the modular home 101. For example, a tractor unit coupled tothe trailer 30 may drive forward to move the trailer 30 out from underthe modular home 101.

At operation 5712 of the method 5700, one or more crawlers (e.g.,crawlers 5100) are instructed to move under the modular home 101. Atoperation 5714 of the method 5700, the linear actuators 1001 areretracted to lower the modular home 101 onto the one or more crawlers5100. At operation 5716 of the method 5700, instructions are sent to theone or more crawlers 5100 to move and carry the modular home 101 to aninstallation location. At operation 5718 of the method 5700, the linearactuators 1001 are extended into the linear actuators 1001 engage theground and lift the modular home 101 off of the one or more crawlers5100. At operation 5720 of the method 5700, instructions are sent to theone or more crawlers 5100 to move out from under the modular home 101.At operation 5722 of the method 5700, the plurality of linear actuators1001 are retracted to lower the modular home 101 to an installationheight. In some embodiments, the method 5700 may include additionaloperations, including deploying decks, ramps, and awnings as describedabove. Deploying decks, ramps, and awnings may include operating a handwinch assembly 5400. In some embodiments, a locking mechanism may beengaged to lock the linear actuators in place such that, for example,hydraulic pressure or electric power is not required to maintain themodular home at the installation height. For example, a pin may beinserted (e.g., manually, or using a solenoid) into the rod of thelinear actuator to stop the rod from retracting further into thecylinder housing. In some embodiments, the linear actuators may includean integrated brake or self-locking mechanism to prevent the rod fromback-driving into the actuator housing once at the modular home is atinstallation height.

Referring now to FIG. 58 , a method 5800 for unloading a modular home(e.g., the modular home 101) from a trailer (e.g., the trailer 30)without the use of crawlers is described, in accordance with someembodiments. The method 5800 may include any number of operations andthe operations may be performed in any order. The method 5800 may beperformed by equipment of a modular home construction company (e.g., thecomponents of system 4500, shown and described with reference to FIG. 45). The method 5800 may include any number of operations and theoperations may be performed in any order. The method 5800 may beperformed by equipment of a modular home construction company (e.g., thecomponents of system 4500, shown and described with reference to FIG. 45). At operation 5802 of the method 5800, a first housing portion 120 anda second housing portion 160 of the modular home 101 are positionedlongitudinally on the bed of the trailer 30. At operation 5804 of themethod 5800, the trailer 30 is moved to position a modular home 101above an installation location. For example, a tractor unit coupled tothe trailer 30 may tow the trailer 30 such that the modular home 101 ispositioned above the installation location. At operation 5806 of themethod 5800, the housing portions 120, 160 are rotated such that themodular home 101 overhangs from first and second sides of the bed. Thehousing portions may each be rotated approximately 90 degrees using, forexample, the extendable winch assembly 2755 as described above. Also asdescribed above, the housing portions 120, 160 may be coupled togetherat a vertical edge by a hinge, such that pulling the hinge using theextendable winch assembly 2755 causes the housing portions 120, 160 torotate about pins in a slot. At operation 5808 of the method 5800, anedge of the first housing portion 120 is coupled to an edge of thesecond housing portion 160. For example, the vertical edges opposite thevertical edges joined by the hinge may be coupled together. At operation5810 of the method 5800, a plurality of linear actuators (e.g., linearactuators 1001) coupled to the overhanging portions of the modular home101 are extended until the linear actuators 1001 engage the ground andlift the modular home 101 off of the bed the trailer 30, such that themodular home 101 is supported by only the linear actuators 1001. Atoperation 5812 of the method 5800, the trailer 30 is moved out fromunderneath the modular home 101. For example, a tractor unit coupled tothe trailer 30 may drive forward to move the trailer 30 out from underthe modular home 101. At operation 5814 of the method 5800, theplurality of linear actuators 1001 are retracted to lower the modularhome to an installation height.

A method similar to the method 5700 may be used to unload other loads(e.g., shipping containers, single-portion modular homes, etc.) from atrailer. Referring now to FIG. 59 , a method 5900 for unloading a loadfrom a trailer (e.g., the trailer 30) is described, in accordance withsome embodiments. The method 5900 may include any number of operationsand the operations may be performed in any order. The method 5900 may beperformed by equipment of a modular home construction company (e.g., thecomponents of system 4500, shown and described with reference to FIG. 45). At operation 5902 of the method 5900, a load is positioned on a bedof the trailer 30. The load may be positioned longitudinally on thetrailer 30 such that the footprint of the load is substantially fullypositioned on the trailer 30. At operation 5904 of the method 5900, aplurality of linear actuators (e.g., linear actuators 1001) are extendeduntil the linear actuators 1001 engage the ground and lift the load offof the bed of the trailer 30. In some embodiments, the load may berotated on the bed of the trailer 30 such that the load overhangs fromeach side of the bed of the trailer 30. The plurality of linearactuators 1001 may be coupled to the portions of the load that overhangthe sides of the trailer 30 after the load has been rotated. In someembodiments, the load may not be not rotated, and the linear actuators1001 overhang from the sides of the trailer 30 when the load is in thelongitudinal position. In some embodiments, the linear actuators 1001may be moved from a position above the trailer 30 to a positionoverhanging the sides of the trailer 30 before the linear actuators areextended to the ground. For example, the linear actuators 1001 may becoupled to a hinge or additional actuator such that the linear actuators1001 can be moved from a stowed position for when the trailer is beingmoved to a deployed position for when the linear actuators 1001 are usedto lift the load off of the trailer 30. At operation 5906 of the method5900, with the load fully supported by the linear actuators and liftedoff of the trailer 30, the trailer is moved out from under the load. Forexample, a tractor unit coupled to the trailer 30 may drive forward tomove the trailer 30 out from under the load.

At operation 5908 of the method 5900, instructions are sent to one ormore crawlers (e.g., crawlers 5100), the instructions causing thecrawlers 5100 to move under the load. At operation 5910 of the method5900, the plurality of linear actuators 1001 are retracted to lower theload and to the one or more crawlers 5100. The linear actuators 1001 mayretract until the load is fully supported by the one or more crawlers5100. At operation 5912 of the method 5900, instructions are sent to theone or more crawlers 5100, the instructions causing the crawlers 5100 tomove the load to a destination location. For example, the crawlers 5100may move the load to a destination location that is not reachable by thetrailer due to the terrain or space constraints. This may obviate theneed for the use of forklifts, cranes, or other material handlingdevices. At operation 5914 of the method 5900, once at the destinationlocation, the linear actuators 1001 are extended until the linearactuators 1001 engage the ground and lift the load off of the one ormore crawlers 5100. At operation 5916 of the method 5900, with the loadfully supported by the linear actuators 1001, instructions are sent tothe one or more crawlers 5100, the instructions causing the crawlers5100 to move out from under the load. At operation 5918 of the method5900, the linear actuators 1001 are retracted to lower the load. Forexample, the load may be lowered to the ground such that the load is nolonger supported by the linear actuators 1001. In some embodiments,after the load is lowered to a desired height, the linear actuators 1001may be locked, for example using a pin as described above, so that therod of the linear actuators 1001 cannot retract further into thecylinder housing. Thus, the linear actuators 1001 may continue tosupport the load even if, for example there is a loss of hydraulicpressure or electric power to the linear actuators 1001.

In the methods 5700, 5800, 5900, the crawlers may not require a platformthat can be raised and lowered because the linear actuators 1001 areable to lower the modular home 101 or other load onto the platform. Whenmoving the trailer 30 out from underneath the modular home 101 or otherload, the crawlers can be positioned under the center of the modularhome 101 or load in order to better distribute the weight between thecrawlers. In some embodiments, a crawler may be a large enough and havesufficient load carrying capacity to support the modular home 101 orload without additional crawlers.

The herein described subject matter sometimes illustrates differentcomponents contained within, or connected with, different othercomponents. It is to be understood that such depicted architectures aremerely exemplary, and that in fact many other architectures can beimplemented which achieve the same functionality. In a conceptual sense,any arrangement of components to achieve the same functionality iseffectively “associated” such that the desired functionality isachieved. Hence, any two components herein combined to achieve aparticular functionality can be seen as “associated with” each othersuch that the desired functionality is achieved, irrespective ofarchitectures or intermedial components. Likewise, any two components soassociated can also be viewed as being “operably connected,” or“operably coupled,” to each other to achieve the desired functionality,and any two components capable of being so associated can also be viewedas being “operably couplable,” to each other to achieve the desiredfunctionality. Specific examples of operably couplable include but arenot limited to physically mateable and/or physically interactingcomponents and/or wirelessly interactable and/or wirelessly interactingcomponents and/or logically interacting and/or logically interactablecomponents.

With respect to the use of substantially any plural and/or singularterms herein, those having skill in the art can translate from theplural to the singular and/or from the singular to the plural as isappropriate to the context and/or application. The varioussingular/plural permutations may be expressly set forth herein for sakeof clarity.

It will be understood by those within the art that, in general, termsused herein, and especially in the appended claims (e.g., bodies of theappended claims) are generally intended as “open” terms (e.g., the term“including” should be interpreted as “including but not limited to,” theterm “having” should be interpreted as “having at least,” the term“includes” should be interpreted as “includes but is not limited to,”etc.). It will be further understood by those within the art that if aspecific number of an introduced claim recitation is intended, such anintent will be explicitly recited in the claim, and in the absence ofsuch recitation no such intent is present. For example, as an aid tounderstanding, the following appended claims may contain usage of theintroductory phrases “at least one” and “one or more” to introduce claimrecitations. However, the use of such phrases should not be construed toimply that the introduction of a claim recitation by the indefinitearticles “a” or “an” limits any particular claim containing suchintroduced claim recitation to inventions containing only one suchrecitation, even when the same claim includes the introductory phrases“one or more” or “at least one” and indefinite articles such as “a” or“an” (e.g., “a” and/or “an” should typically be interpreted to mean “atleast one” or “one or more”); the same holds true for the use ofdefinite articles used to introduce claim recitations. In addition, evenif a specific number of an introduced claim recitation is explicitlyrecited, those skilled in the art will recognize that such recitationshould typically be interpreted to mean at least the recited number(e.g., the bare recitation of “two recitations,” without othermodifiers, typically means at least two recitations, or two or morerecitations). Furthermore, in those instances where a conventionanalogous to “at least one of A, B, and C, etc.” is used, in generalsuch a construction is intended in the sense one having skill in the artwould understand the convention (e.g., “a system having at least one ofA, B, and C” would include but not be limited to systems that have Aalone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). In those instances where aconvention analogous to “at least one of A, B, or C, etc.” is used, ingeneral such a construction is intended in the sense one having skill inthe art would understand the convention (e.g., “a system having at leastone of A, B, or C” would include but not be limited to systems that haveA alone, B alone, C alone, A and B together, A and C together, B and Ctogether, and/or A, B, and C together, etc.). It will be furtherunderstood by those within the art that virtually any disjunctive wordand/or phrase presenting two or more alternative terms, whether in thedescription, claims, or drawings, should be understood to contemplatethe possibilities of including one of the terms, either of the terms, orboth terms. For example, the phrase “A or B” will be understood toinclude the possibilities of “A” or “B” or “A and B.” Further, unlessotherwise noted, the use of the words “approximate,” “about,” “around,”“substantially,” etc., mean plus or minus ten percent.

The foregoing description of illustrative embodiments has been presentedfor purposes of illustration and of description. It is not intended tobe exhaustive or limiting with respect to the precise form disclosed,and modifications and variations are possible in light of the aboveteachings or may be acquired from practice of the disclosed embodiments.It is intended that the scope of the invention be defined by the claimsappended hereto and their equivalents.

What is claimed is:
 1. A modular home comprising: a first space definedby a plurality of walls; and a floor assembly configured to support thewalls, the floor assembly comprising: at least one upper plate defininga floor of the first space, the at least one upper plate comprising afirst material; a frame comprising a plurality of floor joistssupporting the at least one upper plate; and at least one skid platecoupled to a bottom of the frame by a plurality of fastening features,the at least one skid plate comprising a second material different thanthe first material, each skid plate forming at least a portion of asubstantially flat lowermost outer surface of the modular home, thelowermost outer surface configured to rest on an array of upwardlyoriented ball transfer units spaced at least six inches apart to allowtranslation of the modular home across the array, wherein none of thefastening features extend below the lowermost outer surface and whereineach floor joist extends from the at least one upper plate to the atleast one skid plate, and wherein the lowermost outer surface includes acircular opening configured to receive a cylindrical pin; and a pinsocket comprising a cylindrical pipe positioned around the circularopening and between the at least one skid plate and the at least oneupper plate.
 2. The modular home of claim 1, wherein the at least oneskid plate is configured to reduce an amount of friction between themodular home and a surface on which the modular home is positioned. 3.The modular home of claim 1, wherein the cylindrical pipe has a diameterapproximately equal to a diameter of the circular opening.
 4. Themodular home of claim 1, wherein the cylindrical pipe extends from theat least one skid plate to a lower surface of at least one of the upperplates.
 5. The modular home of claim 1, wherein the pin socket includesan upper cap coupled to and configured to seal an upper end of thecylindrical pipe.
 6. The modular home of claim 1, further comprising oneor more bladder tank support assemblies coupled to the floor assembly,each bladder tank support assembly comprising a support platformconfigured to be lowered from the floor assembly at an installationsite, wherein the at least one skid plate covers substantially an entirefootprint of the modular home with the exception of the circular openingand one or more openings each configured to receive one of the one ormore support platforms.
 7. The modular home of claim 1, wherein each ofthe at least one skid plate is a flat sheet of metal or plastic coupleddirectly to the frame of the floor assembly.
 8. The modular home ofclaim 7, wherein each of the at least one skid plate is a flat sheet ofnylon or aluminum.
 9. The modular home of claim 7, wherein each of theat least one upper plate is made of wood or composite, wood composite,or vinyl.
 10. The modular home of claim 1, wherein the cylindrical pipeconfigured to resist lateral translation of the modular home relative tothe cylindrical pin but not configured to be supported by thecylindrical pin in the vertical direction when the cylindrical pin isreceived in the circular opening.